期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2019
卷号：16
期号：4
页码：1-11
DOI：10.1177/1729881419862733
出版社：SAGE Publications
摘要：The formation control problem for multi-agent systems has been explored in recent years. However, controlling a formation of multiple aerial vehicles in the presence of disturbances has been a challenge for control researchers. To deal with this issue, a robust adaptive formation control algorithm for a group of multiple quadcopters is proposed. A nonlinear model of the dynamics of the formation error is obtained based on a leader–follower scheme. This model considers both the relative position in the x–y plane and the relative heading angle between vehicles in the presence of uncertainties. In addition, by means of a model reference control approach, a robust adaptive formation controller is used to steer the vehicles into a formation pattern and have them maintain the formation shape. Numerical simulations demonstrate the effectiveness of the algorithm.
关键词：Formation control ; robust adaptive control ; leader;follower ; quadcopter
