Abstract
In this work, we propose a novel adaptive formation control architecture for a group of quadrotor systems, under line-of-sight (LOS) distance and relative distance constraints, where the constraint requirements can be both asymmetric and time-varying in nature. Universal barrier functions are adopted in the controller design and analysis, which is a generic framework that can address system with different types of constraints in a unified controller architecture. Furthermore, each quadrotor's mass is unknown, and the system dynamics are subjected to time-varying external disturbance. Through rigorous analysis, an exponential convergence rate can be guaranteed on the distance tracking errors, while the constraints are satisfied during the operation. A simulation example further demonstrates the efficacy of the proposed control framework.
| Original language | English |
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| Title of host publication | 2022 American Control Conference, ACC 2022 |
| Pages | 3400-3405 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781665451963 |
| DOIs | |
| State | Published - 2022 |
| Event | 2022 American Control Conference, ACC 2022 - Atlanta, United States Duration: Jun 8 2022 → Jun 10 2022 |
Publication series
| Name | Proceedings of the American Control Conference |
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| Volume | 2022-June |
| ISSN (Print) | 0743-1619 |
Conference
| Conference | 2022 American Control Conference, ACC 2022 |
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| Country/Territory | United States |
| City | Atlanta |
| Period | 6/8/22 → 6/10/22 |
Bibliographical note
Funding Information:This work was supported in part by NSF under ECCS #2131802 and NASA Kentucky under NASA award No. 80NSSC20M0047. Zhongjun Hu and Xu Jin are with the Department of Mechanical Engineering, University of Kentucky, Lexington, KY 40506, USA
Publisher Copyright:
© 2022 American Automatic Control Council.
ASJC Scopus subject areas
- Electrical and Electronic Engineering