Disturbance observer-based backstepping formation control of multiple quadrotors with asymmetric output error constraints

作者：

Highlights：

• The position subsystem and attitude subsystem controller based on backstepping control and disturbance observer are designed.

• An asymmetric BLF is used to realize the asymmetric constraint on the output error.

• The filter is used to estimate the time derivative of the virtual control input to reduce computation complexity.

摘要

•The position subsystem and attitude subsystem controller based on backstepping control and disturbance observer are designed.•An asymmetric BLF is used to realize the asymmetric constraint on the output error.•The filter is used to estimate the time derivative of the virtual control input to reduce computation complexity.

论文关键词：Quadrotor unmanned aerial vehicles (QUAVs),Distributed formation tracking control,Output error constraints,Barrier Lyapunov function (BLF),Backstepping control

论文评审过程：Received 7 February 2021, Revised 23 September 2021, Accepted 24 September 2021, Available online 11 October 2021, Version of Record 11 October 2021.

论文官网地址：https://doi.org/10.1016/j.amc.2021.126693