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- W3104305410 abstract "This paper deals with the formation flying control problem for a team of nonlinear uncertain quadrotors in presence of noisy measurements and environmental disturbances. A novel distributed output-feedback nonlinear robust algorithm is proposed to solve the problem. The algorithm leads to a series of combined estimation-control local policies with minimum communicated information by decomposing the global network to local star networks. An analytical study establishes the stability of the closed-loop system and the Monte-Carlo simulation demonstrates the robust performance and boundedness of the outputs numerically. The Software In the Loop (SIL) testing is performed utilizing Pixhawk open source flight management unit, Raspberry-pi 3 and GAZEBO simulation environment to reveal the effectiveness of the proposed distributed control-estimation algorithm for practical implementation." @default.
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- W3104305410 date "2021-02-01" @default.
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- W3104305410 title "Distributed output feedback nonlinear<mml:math xmlns:mml=http://www.w3.org/1998/Math/MathML display=inline id=d1e505 altimg=si2.svg><mml:msub><mml:mrow><mml:mi>H</mml:mi></mml:mrow><mml:mrow><mml:mi>∞</mml:mi></mml:mrow></mml:msub></mml:math>formation control algorithm for heterogeneous aerial robotic teams" @default.
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- W3104305410 doi "https://doi.org/10.1016/j.robot.2020.103689" @default.
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