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- W3212103637 abstract "Aiming at the formation tracking problem of multiple quadrotor unmanned aerial vehicle (QUAV) with the external disturbance, this paper proposes a disturbance-observer-based distributed formation control strategy. Based on the structural characteristics of the system’s strict feedback, the QUAV dynamic model has an attitude subsystem and a position subsystem. Based on the graph theory and backstepping method, a distributed formation tracking controller is designed to form and maintain formations. The external disturbances are estimated by disturbance observer, and a filter is used to estimate the virtual control input derivative of attitude subsystem. Finally, the stability analysis shows that the closed-loop control system is globally bounded and stable. The simulation results prove the effectiveness of the distributed formation controller proposed." @default.
- W3212103637 created "2021-11-22" @default.
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- W3212103637 date "2021-10-30" @default.
- W3212103637 modified "2023-10-16" @default.
- W3212103637 title "Distributed Formation Control of Multi-QUAV Based on Leader-Follower" @default.
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- W3212103637 doi "https://doi.org/10.1007/978-981-15-8155-7_253" @default.
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