Time-varying formation control for unmanned aerial vehicles (UAVs) swarm systems with external disturbances is investigated via active disturbance rejection control (ADRC). The external disturbances are estimated by a designed extended state observer (ESO). Then, a distributed formation control protocol is designed according to the output of ESO, under which the predefined time-varying formation can be achieved. The closed-loop system under the proposed control strategy is analyzed. In addition, the expression of formation center function of the disturbed formation control is also depicted. Finally, numerical instances are simulated in order to demonstrate the validity and superiority of the proposed control strategy.
AbdessameudATayebiA (2011) Formation control of VTOL unmanned aerial vehicles with communication delays. Automatica47(11): 2383–2394.
2.
AhrensHJKhalilKH (2009) High-gain observers in the presence of measurement noise: A switched-gain approach. Automatica45(4): 936–943.
3.
BalchTArkinRC (1998) Behavior-based formation control for multi-robot teams. IEEE Transactions on Robotics and Automation14(6): 926–939.
4.
ChengMXJiaoXH (2018) Modified active disturbance rejection control for non-linear semi-active vehicle suspension with magneto-rheological damper. Transactions of the Institute of Measurement and Control40(8): 2611–2621.
5.
ConsoliniLMorbidiFPrattichizzoDTosquesM (2008) Leader-follower formation control of nonholonomic mobile robots with input constraints. Automatica44(5): 1343–1349.
6.
DongXWYuBCShiZYZhongYS (2015) Time-varying formation control for unmanned aerial vehicles: Theories and applications. IEEE Transactions on Control Systems Technology23(1): 340–348.
7.
DongXWZhouYRenZZhongYS (2017) Time-varying formation tracking for second-order multi-agent systems subjected to switching topologies with application to quadrotor formation flying. IEEE Transactions on Industrial Electronics64(6): 5014–5024.
8.
HammouriHBornardGBusawonK (2010) High gain observer for structured multi-input multi-output nonlinear systems. IEEE Transactions on Automatic Control55(4): 987–992.
9.
HanJQ (2009) From PID to active disturbance rejection control. IEEE Transactions on Industrial Electronics56(3): 900–906.
10.
HanJLChenYQ (2014) Multiple UAV formations for cooperative source seeking and contour mapping of a radiative signal field. Journal of Intelligent and Robot Systems74(1–2): 323–332.
11.
HuaYZDongXWLiQDRenZ (2017) Distributed time-varying formation robust tracking for general linear multiagent systems with parameter uncertainties and external disturbances. IEEE Transactions on Cybernetics47(8): 1959–1969.
12.
HuangCZLiJMuSCYanHC (2017) Linear active disturbance rejection control approach for load frequency control of two-area interconnected power system. Transactions of the Institute of Measurement and Control. DOI: 10.1177/0142331217701539.
13.
JasimWGuDB (2018) Robust team formation control for quadrotors. IEEE Transactions on Control Systems Technology26(4): 1516–1523.
14.
KarimoddiniALinHChenBMLeeTH (2013) Hybrid three-dimensional formation control for unmanned helicopters. Automatica49(2): 424–433.
LinZYDingWYanGF, et al. (2013) Leader-follower formation via complex Laplacian. Automatica49(6): 1900–1906.
17.
LiuCJChenWH (2016) Disturbance rejection flight control for small fixed-wing unmanned aerial vehicles. Journal of Guidance, Control, and Dynamics39(12): 2810–2819.
18.
MaDLXiaYQLiTYChangK (2016) Active disturbance rejection and predictive control strategy for a quadrotor helicopter. IET Control Theory and Applications10(17): 2213–2222.
19.
MiaoYFZhongLYinYF (2017) Research on dynamic task allocation for multiple unmanned aerial vehicles. Transactions of the Institute of Measurement and Control39(4): 466–474.
20.
QiYHZhouSLKangYHYanS (2016) Formation control for unmanned aerial vehicles with directed and switching topologies. International Journal of Aerospace Engineering2016(2016): 7657452.
21.
RanMPWangQDongCY (2016) Stabilization of a class of nonlinear systems with actuator saturation via active disturbance rejection control. Automatica63: 302–310.
22.
RanMPWangQDongCY (2017) Active disturbance rejection control for uncertain nonaffine-in-control nonlinear systems. IEEE Transactions on Automatic Control62(11): 5830–5836.
23.
RenW (2007) Consensus strategies for cooperative control of vehicle formations. IET Control Theory and Applications1(2): 505–512.
24.
RenWBeardRW (2005) Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Transactions on Automatic Control50(5): 655–661.
25.
SivakumarATanCKY (2010) UAV swarm coordination using cooperative control for establishing a wireless communications backbone. In: Proceedings of the 9th Conference on Autonomous Agents and Multiagent Systems, Toronto, Canada, 10–14 May, pp. 1157–1164. Richland, SC: ACM.
26.
SuYF (2015) Leader-following rendezvous with connectivity preservation and disturbance rejection via internal model approach. Automatica57: 203–212.
27.
WangHLChenM (2015) Trajectory tracking control for an indoor quadrotor UAV based on the disturbance observer. Transactions of the Institute of Measurement and Control38(6): 675–692.
28.
WangJNXinM (2013) Integrated optimal formation control of multiple unmanned aerial vehicles. IEEE Transactions on Control Systems Technology21(5): 1731–1744.
29.
WilliamsonWRAbdel-HafezMFRheeI, et al. (2008) An instrumentation system applied to formation flight. IEEE Transactions on Control Systems Technology15(1): 75–85.
30.
XieDSYuanDMLuJW (2012) Consensus control of second-order leader–follower multi-agent systems with event-triggered strategy. Transactions of the Institute of Measurement and Control35(4): 426–436.
31.
ZhangYChenZQZhangXH, et al. (2018) A novel control scheme for quadrotor UAV based upon active disturbance rejection control. Aerospace Science and Technology79: 601–609.
