Velocity-free distributed geometric formation control for underactuated UAVs

Abstract

Purpose This paper aims to investigate the distributed formation control problem for a multi-quadrotor unmanned aerial vehicle system without linear velocity feedbacks. Design/methodology/approach A nonlinear controller is proposed based on the orthogonal group SE(3) to obviate singularities and ambiguities of the traditional parameterized attitude representations. A cascade structure is applied in the distributed controller design. The inner loop is responsible for attitude control, and the outer loop is responsible for translational dynamics. To ensure a linear-velocity-free characteristic, some auxiliary variables are introduced to construct virtual signals in distributed controller design. The stability analysis of the proposed distributed control method by the Lyapunov function is provided as well. Findings A group of four quadrotors with constant reference linear velocity and a group of six quadrotors with varying reference linear velocity are adopted to verify the effectiveness of the proposed strategy. Originality/value This is a new innovation for multi-robot formation control method to improve assembly automation.

Adaptive dynamic surface output feedback control for a class of quadrotor aircraft with actuator faults

“…Quadrotor unmanned aerial vehicles (UAVs) have gotten a lot of attention in recent years because it is widely used in agricultural production (Chen et al, 2021a;Zhou et al, 2021;Zhang et al, 2021;Chen et al, 2021b), unique period communication technology (Li et al, 2018), air transportation (Qian and Liu, 2019) and rescue information collection duties in risky and limited space (Ruetten et al, 2020;Feraru et al, 2020). High-precision trajectory tracking was required to complete the above tasks successfully (Zhang et al, 2020d;Gu and Wang, 2022;Yu et al, 2022).…”