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Distributed output feedback nonlinear H∞ formation control algorithm for heterogeneous aerial robotic teams
Robotics and Autonomous Systems ( IF 4.3 ) Pub Date : 2021-02-01 , DOI: 10.1016/j.robot.2020.103689
Fatemeh Rekabi , Farzad A. Shirazi , Mohammad Jafar Sadigh , Mahmood Saadat

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.

中文翻译:

异构空中机器人团队分布式输出反馈非线性H∞编队控制算法

摘要 本文研究了一组非线性不确定四旋翼飞行器在存在噪声测量和环境干扰的情况下的编队飞行控制问题。针对该问题,提出了一种新的分布式输出反馈非线性鲁棒算法。该算法通过将全局网络分解为局部星型网络,产生了一系列具有最少通信信息的组合估计-控制局部策略。一项分析研究确定了闭环系统的稳定性,蒙特卡洛模拟以数值方式证明了输出的稳健性能和有界性。软件在环 (SIL) 测试是利用 Pixhawk 开源飞行管理单元执行的,
更新日期:2021-02-01
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