Learning‐based collision avoidance and robust H∞ optimal formation control for uncertain quadrotor UAV systems
Ning Li,
Hongbin Wang,
Qianda Luo
et al.
Abstract:This paper investigates the robust optimal formation control for the position subsystem of quadrotor unmanned aerial vehicles (UAVs) subject to external disturbances and collision constraints. To prevent collision with both members of the formation and external obstacles, a collision avoidance potential function is constructed using relative position and velocity information. The basic bounded control input can ensure the stable flight and collision avoidance of a quadrotor UAV system. Based on the approximat… Show more
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