This paper is concerned with the robust visual servoing formation tracking problem for a team of quadrotor unmanned aerial vehicles (UAVs). The quadrotor UAV firstly capturing the target in its camera scope is considered as the current leader to perform the target tracking task and the other quadrotor UAVs follow the current leader with a prescribed formation pattern. When the leader changes, which means the current leader loses the target and the target is captured by another quadrotor UAV, a switching-topology strategy is used to change the leader and guarantee the cooperative work of the quadrotor team. A robust visual servoing switching-topology formation control approach is developed for the quadrotor team, whose model possesses six degrees of freedom subject to the underactuation feature, nonlinear dynamics, parameter uncertainties, and external disturbance. The effectiveness of the theoretical result is validated by theoretical analysis and numerical simulation studies.

本文涉及一组四旋翼无人机的鲁棒视觉伺服编队跟踪问题。首先在其摄像机范围内捕获目标的四旋翼无人机被视为执行目标跟踪任务的当前领导者，而其他四旋翼无人机则以预定的编队模式跟随当前领导者。当领导者变更时，这意味着当前的领导者失去了目标，而目标又被另一台四旋翼无人机捕获，则采用切换拓扑策略来更改领导者并保证四旋翼团队的协同工作。为四旋翼团队开发了一种鲁棒的视觉伺服开关拓扑结构控制方法，该模型的模型具有六个自由度，受制于欠驱动特性，非线性动力学，参数不确定性，和外部干扰。理论分析和数值模拟研究验证了理论结果的有效性。