In this article, the model-free robust formation control problem is addressed for cooperative underactuated quadrotors involving unknown nonlinear dynamics and disturbances. Based on the hierarchical control scheme and the reinforcement learning theory, a robust controller is proposed without knowledge of each quadrotor dynamics, consisting of a distributed observer to estimate the position state of the leader, a position controller to achieve the desired formation, and an attitude controller to control the rotational motion. Simulation results on the multiquadrotor system confirm the effectiveness of the proposed model-free robust formation control method.

中文翻译：

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通过强化学习对协作欠驱动四旋翼飞机进行鲁棒编队控制

在本文中，针对涉及未知非线性动力学和扰动的协作欠驱动四旋翼飞行器解决了无模型鲁棒编队控制问题。基于分层控制方案和强化学习理论，在不了解每个四旋翼动力学的情况下，提出了一种鲁棒控制器，它由一个分布式观测器来估计领导者的位置状态，一个位置控制器来实现所需的编队，以及一个姿态控制器来控制旋转运动。多四旋翼系统的仿真结果证实了所提出的无模型鲁棒编队控制方法的有效性。