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Design of multi-constraint robust formation controller based on error model

Authors :
YAN Danghui
ZHANG Weiguo
CHEN Hang
Source :
Xibei Gongye Daxue Xuebao, Vol 40, Iss 5, Pp 1012-1020 (2022)
Publication Year :
2022
Publisher :
EDP Sciences, 2022.

Abstract

UAVs formation is a complex nonlinear system. Although quadrotor has many advantages, its dynamics model is nonlinear, coupled, and under driven. For model-based controller design, physical constraints, model uncertainties and external disturbances significantly deteriorate control performance. Therefore, a multi-constraints MPC strategy based on error model is proposed for the quadrotor formation. Firstly, a 3D model for quadrotor is established by using the Lagrange-Euler formulation, in which the model is divided into RS and TS. The corresponding multi-constraint MPC is designed for the two subsystems respectively. The tracking errors caused by external disturbances can be eliminated because of the integrator embedded in the augmented model. Comparing with RMPC, by making reasonable modifications to the cost function, the asymptotic stability of the open loop and the closed-loop subsystem can be ensured by MMPC. Moreover, the stability analysis of the above-mentioned algorithm is carried out. The simulation results show that the controller of the formation can not only achieve good path tracking, but also robustness to the multiple constraints and disturbances.

Details

Language :
Chinese
ISSN :
10002758 and 26097125
Volume :
40
Issue :
5
Database :
Directory of Open Access Journals
Journal :
Xibei Gongye Daxue Xuebao
Publication Type :
Academic Journal
Accession number :
edsdoj.3a63089db0734ccabf66ad0c6ac42043
Document Type :
article
Full Text :
https://doi.org/10.1051/jnwpu/20224051012