This paper presents a distributed formation tracking control strategy which acts on multiple quadrotor unmanned aerial vehicles (QUAVs) formation control under external disturbance and asymmetric output error constraints. An asymmetric barrier Lyapunov function (BLF) is applied to ensure the constraint of output error. Based on graph theory and backstepping control method, a distributed formation controller is designed to achieve the formation and maintenance of formations, where external disturbance is handled by disturbance observer (DO). In the framework of Lyapunov theory, the bounded stability of the closed-loop system is proved, and the output error is remained within the constraint range. The superiority and effectiveness of the designed control strategy is verified by the compared simulation.

本文提出了一种分布式编队跟踪控制策略，该策略作用于外部干扰和非对称输出误差约束下的多四旋翼无人机（QUAVs）编队控制。应用非对称势垒李雅普诺夫函数 (BLF) 来确保输出误差的约束。基于图论和反步控制方法，设计了分布式编队控制器来实现编队的形成和维护，其中外部扰动由扰动观测器（DO）处理。在李雅普诺夫理论的框架下，证明了闭环系统的有界稳定性，输出误差保持在约束范围内。通过对比仿真验证了所设计控制策略的优越性和有效性。