Affine formation maneuver control for multiple underactuated quadrotor UAVs with fixed convergence time
Yuanfang Qu, Yang Xu, Kai Zhang · 2022
This paper proposes an affine formation maneuver control scheme for multiple underactuated quadrotor UAVs, which comprises the distributed fixed-time estimators and tracking controllers, , translational and rotational controllers. The desired states can be obtained within fixed time by the distributed fixed-time estimators. Then, under the proposed fixed-time tracking controllers, all error signals in the control system converge. Meanwhile, an attitude extraction algorithm is adopted to obtain the desired rotational states. A first-order filter is proposed to deal with calculating derivatives for variables. Finally, through numerical simulations, the feasibility of the proposed control scheme is proved.