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首页> 外文期刊>International journal of systems,control and communications >Leader-follower formation suboptimal control for quad rotors
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Leader-follower formation suboptimal control for quad rotors

机译：四旋翼的前轮跟随器编队次优控制

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摘要

In this work, a leader-follower formation control problem of quadrotors is investigated. The quadrotor dynamic model is represented by unit quaternion with the consideration of external disturbance. Nonlinear H _(∞)design approach is introduced and robust controllers for both leader and follower robots are derived by solving a Hamilton-Jacobi inequality following from a result for general nonlinear affine systems. Then some robustness conditions of the proposed controllers are obtained by selecting appropriate parametrised Lyapunov functions. The resultant state feedback controllers establish the asymptotically stability of the closed-loop nonlinear system. In addition, integral backstepping (IB) controllers are also derived for the leader-follower formation control problem. The purpose of designing IB controllers is to evaluate the robustness of H _(∞)controllers by comparison. The simulation results from both types of controllers are compared and robustness performance of the H _(∞)controllers over the IB controllers are demonstrated.
机译：在这项工作中，研究了四旋翼的前随从编队控制问题。考虑外部干扰，用单元四元数表示四旋翼动力学模型。介绍了非线性H _（∞）设计方法，并通过根据一般非线性仿射系统的结果求解汉密尔顿-雅各比不等式，得出了领导者机器人和跟随者机器人的鲁棒控制器。然后通过选择适当的参数化Lyapunov函数来获得所提出控制器的一些鲁棒性条件。结果状态反馈控制器建立了闭环非线性系统的渐近稳定性。此外，还针对后随从编队控制问题推导了集成反推（IB）控制器。设计IB控制器的目的是通过比较来评估H _（∞）控制器的鲁棒性。比较了两种控制器的仿真结果，并证明了H _（∞）控制器在IB控制器上的鲁棒性能。

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