Time-varying formation control for unmanned aerial vehicles with external disturbances
Time-varying formation control for unmanned aerial vehicles (UAVs) swarm systems with external disturbances is investigated via active disturbance rejection control (ADRC). The external disturbances are estimated by a designed extended state observer (ESO). Then, a distributed formation control prot...
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sg-ntu-dr.10356-1528232021-10-05T07:35:29Z Time-varying formation control for unmanned aerial vehicles with external disturbances Liu, Yu'ang Wang, Qing Dong, Chaoyang Ran, Maopeng School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Formation Control Time-varying Formation Time-varying formation control for unmanned aerial vehicles (UAVs) swarm systems with external disturbances is investigated via active disturbance rejection control (ADRC). The external disturbances are estimated by a designed extended state observer (ESO). Then, a distributed formation control protocol is designed according to the output of ESO, under which the predefined time-varying formation can be achieved. The closed-loop system under the proposed control strategy is analyzed. In addition, the expression of formation center function of the disturbed formation control is also depicted. Finally, numerical instances are simulated in order to demonstrate the validity and superiority of the proposed control strategy. The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This study was co-supported by the National Natural Science Foundation of China under Grant (61873295, 61833016) and the Aviation Science Foundation of China under Grant 2016ZA51011. 2021-10-05T07:35:29Z 2021-10-05T07:35:29Z 2019 Journal Article Liu, Y., Wang, Q., Dong, C. & Ran, M. (2019). Time-varying formation control for unmanned aerial vehicles with external disturbances. Transactions of the Institute of Measurement and Control, 41(13), 3777-3786. https://dx.doi.org/10.1177/0142331219836588 0142-3312 https://hdl.handle.net/10356/152823 10.1177/0142331219836588 2-s2.0-85063354339 13 41 3777 3786 en Transactions of the Institute of Measurement and Control © 2019 The Author(s). All rights reserved |
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Nanyang Technological University |
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Asia |
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Engineering::Electrical and electronic engineering Formation Control Time-varying Formation |
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Engineering::Electrical and electronic engineering Formation Control Time-varying Formation Liu, Yu'ang Wang, Qing Dong, Chaoyang Ran, Maopeng Time-varying formation control for unmanned aerial vehicles with external disturbances |
| description |
Time-varying formation control for unmanned aerial vehicles (UAVs) swarm systems with external disturbances is investigated via active disturbance rejection control (ADRC). The external disturbances are estimated by a designed extended state observer (ESO). Then, a distributed formation control protocol is designed according to the output of ESO, under which the predefined time-varying formation can be achieved. The closed-loop system under the proposed control strategy is analyzed. In addition, the expression of formation center function of the disturbed formation control is also depicted. Finally, numerical instances are simulated in order to demonstrate the validity and superiority of the proposed control strategy. |
| author2 |
School of Electrical and Electronic Engineering |
| author_facet |
School of Electrical and Electronic Engineering Liu, Yu'ang Wang, Qing Dong, Chaoyang Ran, Maopeng |
| format |
Article |
| author |
Liu, Yu'ang Wang, Qing Dong, Chaoyang Ran, Maopeng |
| author_sort |
Liu, Yu'ang |
| title |
Time-varying formation control for unmanned aerial vehicles with external disturbances |
| title_short |
Time-varying formation control for unmanned aerial vehicles with external disturbances |
| title_full |
Time-varying formation control for unmanned aerial vehicles with external disturbances |
| title_fullStr |
Time-varying formation control for unmanned aerial vehicles with external disturbances |
| title_full_unstemmed |
Time-varying formation control for unmanned aerial vehicles with external disturbances |
| title_sort |
time-varying formation control for unmanned aerial vehicles with external disturbances |
| publishDate |
2021 |
| url |
https://hdl.handle.net/10356/152823 |
| _version_ |
1713213292742180864 |