A collaborative control method for multi-UAVs based on ADRC control
Fuchun Liu, Tao Lan, Songbo Wang · 2020
The demand of the market makes the requirements for the load capacity of UAVs(unmanned aerial vehicles) become higher and higher. Due to the high reliability, strong robustness and fast response capability, the multi-UAVs collaborative control system is of great significance. The traditional multi-UAVs cooperative control system is limited by the data transmission capacity of wireless networks. The subordinate UAV can move in the direction of the passive force passed by load to reduce the external force and follow the main UAV. The collaborative control method for multi-UAVs based on ADRC(Active Disturbances Rejection Control) uses that passive force as the controlled variable. Compensating the passive force to eliminate the resultant external force of the subordinate UAV, and the subordinate UAV can follow the main UAV in real time.