Leader-follower formation control of mutilple UAVs based on ADRC:experiment research
Hang Li, Jing Wang, Cunwu Han, Meng Zhou, Zhe Dong · 2021
In this paper, leader-follower formation control is studied to solve the trajectory tracking problem of multiple UAVs. The upper formation controller and the bottom trajectory tracking controller are designed based on active disturbance rejection control(ADRC). Virtual control variables are set in the design of the bottom controller to solve the under-actuated problem of the quadrotor. The extended state observer(ESO) is used to estimate and compensate the total disturbance in the design of the upper and bottom controller, which solves the problem of strong coupling of the quadrotor and improves the anti-interference and robustness of the system. Then the effectiveness of the designed controllers is verified by numerical simulations. Finally, an experiment of the designed controllers is carried out on Tello quadrotor UAV. The experimental results show the feasibility of the designed controllers.