Jasim, Wesam and Gu, Dongbing (2018) Robust Team Formation Control for Quadrotors. IEEE Transactions on Control Systems Technology, 26 (4). pp. 1516-1523. DOI https://doi.org/10.1109/TCST.2017.2705072
Jasim, Wesam and Gu, Dongbing (2018) Robust Team Formation Control for Quadrotors. IEEE Transactions on Control Systems Technology, 26 (4). pp. 1516-1523. DOI https://doi.org/10.1109/TCST.2017.2705072
Jasim, Wesam and Gu, Dongbing (2018) Robust Team Formation Control for Quadrotors. IEEE Transactions on Control Systems Technology, 26 (4). pp. 1516-1523. DOI https://doi.org/10.1109/TCST.2017.2705072
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 |
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Divisions: | Faculty of Science and Health Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
SWORD Depositor: | Unnamed user with email elements@essex.ac.uk |
Depositing User: | Unnamed user with email elements@essex.ac.uk |
Date Deposited: | 02 Mar 2020 13:03 |
Last Modified: | 23 Sep 2022 19:19 |
URI: | http://repository.essex.ac.uk/id/eprint/26981 |
Available files
Filename: PTF.pdf