Distributed formation tracking control of a multi-quadrotor system based on sliding mode and a rate bounded PID controller in the presence of internal perturbation and external disturbance
Ehsan Abbasi, Mohammad Danesh, Mostafa Ghayour · Journal of Control · 2022
In this paper, a distributed consensus problem with path tracking problem for multiple quadrotors with bounded disturbances under a directed topology is solved.At first, dynamic model of a single quadrotor is divided into two subsystems; fully-actuated and under-actuated subsystem.Some coupling terms between the two subsystems are regarded as internal perturbations.Bounded external disturbances are considered in this paper too and are entered to the quadrotors.Rate bounded PID controller and sliding mode controller are considered for fully-actuated subsystem of the quadrotors, for altitude and yaw angle of the quadrotors respectively.For under-actuated subsystems of the quadrotors, a distributed control protocol based on sliding mode control is proposed to guarantee that the consensus is achieved and the desired path is tracked by the group with bounded errors.These errors are only associated with external disturbances.Analysis based on Lyapunov theory and different simulations show the stability and effectiveness of the proposed control system.