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Robust Team Formation Control for Quadrotors

Jasim, Wesam and Gu, Dongbing (2018) 'Robust Team Formation Control for Quadrotors.' IEEE Transactions on Control Systems Technology, 26 (4). 1516 - 1523. ISSN 1063-6536

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Abstract

In this brief, we develop a suboptimal H ∞ controller for a leader-follower formation problem of quadrotors with the consideration of external disturbances and model parameter uncertainties. We also compare the control performances between this H ∞ controller and an integral backstepping (IBS) controller for this problem. The resultant state feedback controller establishes the asymptotically stability of the closed-loop nonlinear system. Simulation results show a good performance for both controllers in normal circumstance, and the H ∞ controller performs much better than the IBS controller under the disturbances. Experimental results of using H ∞ controller show its stability and robustness against the disturbances.

Item Type: Article
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Elements
Date Deposited: 02 Mar 2020 13:03
Last Modified: 02 Mar 2020 13:03
URI: http://repository.essex.ac.uk/id/eprint/26981

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