UAV Formation Control based on Event-Triggered Active Disturbance Rejection Algorithm
Feng Zhang · 2024
This paper proposes an active disturbance rejection control algorithm based on event triggering mechanism for UAV formation problem. First, in view of the shortage of communication resources and external interference problems under UAVs, it is proposed to use the expanded state observer in the formation to estimate UAV states and disturbances. Secondly, the event triggering mechanism is used to determine the transmission of the output of the controlled object, reducing the number of communications, and the expanded state observer only requires the input and output of the controlled object, reducing the amount of data in a single transmission. Then, based on the state value estimated by the event-triggered extended state observer, a formation controller based on the event-triggered mechanism is proposed. Finally, a UAV semi-physical simulation platform was built, and the event-triggered active disturbance rejection control algorithm was deployed on the designed semi-physical simulation board professional board to conduct semi-physical simulation experiments. Experimental results show that the designed event-triggered active disturbance rejection control algorithm can realize UAV formation tracking control, reduce the number of communications and data volume between UAVs, reduce the output frequency of control quantities, and achieve the purpose of saving energy.