An Adaptive Formation Control Architecture for A Team of Quadrotors with Performance and Safety Constraints

Zhongjun Hu, Xu Jin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


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 languageEnglish
Title of host publication2022 American Control Conference, ACC 2022
Number of pages6
ISBN (Electronic)9781665451963
StatePublished - 2022
Event2022 American Control Conference, ACC 2022 - Atlanta, United States
Duration: Jun 8 2022Jun 10 2022

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2022 American Control Conference, ACC 2022
Country/TerritoryUnited States

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


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