ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Distributed adaptive event⁃triggered formation control for QUAVs
Received date: 2023-11-28
Revised date: 2023-12-01
Accepted date: 2023-12-06
Online published: 2023-12-21
Supported by
National Key Research and Development Program of China(2023YFB4704400);National Natural Science Foundation of China(U2013201);Jiangsu Province Special Funds for Science and Technology(BZ2023057)
In this paper， a distributed adaptive event-triggered formation control method is proposed for Quadrotor Unmanned Aerial Vehicles （QUAVs） with unknown external disturbances and limited computational resources. Firstly， the parameter adaptive method is used to deal with the adverse effects of unknown external disturbances， and the parameter updating law is updated only at event-triggered instants to further reduce the computational cost. Then， the distributed formation controller is developed based on the parameter adaptive method and the event-triggered mechanism. Moreover， the uniformly ultimately bounded stability of the control system is accomplished by the Lyapunov theorem. Finally， flight experiments are implemented to verify the effectiveness and reliability of the proposed control method.
Hongzhen GUO , Mou CHEN , Yongdong DAI , Maofei WANG . Distributed adaptive event⁃triggered formation control for QUAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023 , 44(S2) : 729917 -729917 . DOI: 10.7527/S1000-6893.2023.29917
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