Distributed Extended State Observer based Formation Tracking Control for Quadrotor UAVs
Huang Mei, Wenlong Yang, Jintao Chen · 2024
Practical formation tracking problems of Multi-UAVs Systems (MUSs) with a non-cooperative leader are addressed. A distributed extended state observer is developed to estimate both the state and the unknown external control input of the leader. The approach to obtain the observer gain is attained by solving an algebraic Riccati equation, and the stability of the closed-loop system under the proposed approach is proven using the Lyapunov stability theory. It appears that, by selecting appropriate parameters, the formation tracking error can converge within any size neighborhood of the origin. Ultimately, an experimental platform comprising four quadrotors is established, and the effectiveness of the proposed observer and controller is further demonstrated through real-world experiments with quadrotor UAVs.