Paper Info
Title
Distributed Formation Control for Multiple Quadrotor UAVs under Markovian Switching Topologies with Partially Unknown Transition Rates
Abstract
This paper addresses distributed formation control for a group of quadrotor unmanned aerial vehicles (UAVs) under Markovian switching topologies with partially unknown transition rates. Instead of the general stochastic topology, the graph is governed by a set of Markov chains to the edges, which can recover the traditional Markovian switching topologies in line with the practical communication network. Extended high gain observers (EHGOs) are constructed with a two-time-scale format to deal with the issue of nonlinear input coefficients, so that there could be a higher estimation precision of the system uncertainties. To impel multiple quadrotor UAVs to achieve a predesigned formation shape, a modified integral sliding mode (ISM) control protocol is proposed here with a multi-time-scale structure, which allows independent analysis of the dynamics in each time scale. The stability proof for the system state space origin is derived from the singular perturbation method and Lyapunov stability theory. In addition, the introduced ISM controller can deal with the time varying desired references with the bounded accelerations and is robust to the disturbances. Finally, simulations on six quadrotor UAVs are given to verify the effectiveness of the theoretical results.
Year
DOI
Venue
2019
10.1016/j.jfranklin.2018.11.051
Journal of the Franklin Institute
Field
DocType
Volume
Integral sliding mode,Control theory,Telecommunications network,Control theory,Markov chain,Lyapunov stability,Network topology,Singular perturbation,State space,Mathematics
Journal
356
Issue
ISSN
Citations 
11
0016-0032
1
PageRank 
References 
Authors
0.35
0
5
Name
Order
Citations
PageRank
Zhen Zhou13012.87
hongbin wang2119.05
Yueling Wang310.35
Xiaojun Xue410.35
Ming-quan Zhang554.29