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Abbasi E, Danesh M, Ghayour M. Distributed formation tracking control of a multi-quadrotor system based on sliding mode and a rate bounded PID controller in the presence of internal perturbation and external disturbance. jocee 2022; 1 (1) :61-70
URL: http://jocee.kntu.ac.ir/article-1-46-en.html
Distributed formation tracking control of a multi-quadrotor system based on sliding mode and a rate bounded PID controller in the presence of internal perturbation and external disturbance
Ehsan Abbasi1 , Mohammad Danesh 1, Mostafa Ghayour1
1- Departments of Mechanical Engineering, Isfahan University of Technology, Isfahan, Iran
Abstract:   (814 Views)
In this paper, a distributed consensus problem with path tracking problem for multiple quadrotors with bounded disturbances under a directed topology is solved. At first, dynamic model of a single quadrotor is divided into two subsystems; fully-actuated and under-actuated subsystem. Some coupling terms between the two subsystems are regarded as internal perturbations. Bounded external disturbances are considered in this paper too and are entered to the quadrotors. Rate bounded PID controller and sliding mode controller are considered for fully-actuated subsystem of the quadrotors, for altitude and yaw angle of the quadrotors respectively. For under-actuated subsystems of the quadrotors, a distributed control protocol based on sliding mode control is proposed to guarantee that the consensus is achieved and the desired path is tracked by the group with bounded errors. These errors are only associated with external disturbances. Analysis based on Lyapunov theory and different simulations show the stability and effectiveness of the proposed control system.
Keywords: Multi-agent system, Quadrotor, sliding mode controller, distributed control protocol
Full-Text [PDF 1069 kb]   (222 Downloads)    
Type of Article: Research paper | Subject: General
Received: 2022/02/20 | Accepted: 2022/06/7 | Published: 2023/05/5
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