Abstract This paper investigates a completely distributed adaptive formation control protocol for networked quadrotors under switching communication topologies, where the dynamics of each quadrotor involves seriously nonlinearity and uncertainty simultaneously. For the switching communication topologies case, the adaptive formation control protocol is proposed to guarantee that the translational and rotational tracking errors of the global closed-loop system can converge into a priori set neighborhood of the origin ultimately. Furthermore, the proposed formation control protocol is completely distributed, which means that the controller of each quadrotor only needs the information from itself and its neighbors. Numerical simulation results on the quadrotor team are provided to confirm the effectiveness and advantages of the proposed adaptive formation control protocol.

中文翻译：

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交换通信拓扑下网络四旋翼的完全分布式编队控制

摘要 本文研究了一种完全分布式自适应编队控制协议，用于交换通信拓扑下的网络四旋翼飞行器，其中每个四旋翼飞行器的动力学同时涉及严重的非线性和不确定性。针对切换通信拓扑的情况，提出了自适应编队控制协议，以保证全局闭环系统的平移和旋转跟踪误差最终能够收敛到原点的先验集邻域。此外，所提出的编队控制协议是完全分布式的，这意味着每个四旋翼的控制器只需要来自自身及其邻居的信息。