Robust Team Formation Control for Quadrotors
Wesam M. Jasim, Dongbing Gu · IEEE Transactions on Control Systems Technology · 2017
In this brief, we develop a suboptimal H∞controller for a leader-follower formation problem of quadrotors with the consideration of external disturbances and model parameter uncertainties. We also compare the control performances between this H∞controller and an integral backstepping (IBS) controller for this problem. The resultant state feedback controller establishes the asymptotically stability of the closed-loop nonlinear system. Simulation results show a good performance for both controllers in normal circumstance, and the H∞controller performs much better than the IBS controller under the disturbances. Experimental results of using H∞controller show its stability and robustness against the disturbances.