A hierarchical control strategy is designed for the position-based formation tracking control of rotorcraft-like aerial vehicles without linear velocity measurements. In the outer loop, the cooperative algorithm is designed based on auxiliary systems, to let all agents go toward desired positions. Based on an extraction algorithm, the desired quaternion-based attitude is extracted. In the inner loop, the inherent passivity property is applied to compensate for the desired but unextracted angular velocity, which makes the hierarchical control procedure more separate. Combined with the inherent passivity property, the quaternion-based attitude and the proposed bump-like functions, a hybrid formalism is established for the attitude loop containing a hybrid control strategy. In this case, the global attitude control can be realized via determining the torque orientation and overcoming the topological constraint on $SO(3)$ . The effectiveness of the hierarchical control strategy is verified by the position-based formation of six miniature quadrotors.

中文翻译：

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像旋翼飞机的基于位置的编队控制的分层设计

设计了一种分层控制策略，用于无需线速度测量的类旋翼飞机的基于位置的编队跟踪控制。在外环中，基于辅助系统设计协作算法，以使所有代理都移至所需位置。基于提取算法，提取所需的基于四元数的姿态。在内部回路中，固有的无源属性用于补偿所需的但未提取的角速度，这使分层控制过程更加独立。结合固有的被动性，基于四元数的姿态和拟议的凹凸样函数，为包含混合控制策略的姿态环建立了混合形式。在这种情况下，$ SO（3）$ 。分层控制策略的有效性通过六个微型四旋翼的基于位置的形成得到了验证。