In this paper, the robust formation control problem is investigated for a group of quadrotors. Each quadrotor dynamics exhibits the features of underactuation, high nonlinearities and couplings, and disturbances in both the translational and rotational motions. A distributed robust controller is developed, which consists of a position controller to govern the translational motion for the desired formation and an attitude controller to control the rotational motion of each quadrotor. Theoretical analysis and simulation studies of a formation of multiple uncertain quadrotors are presented to validate the effectiveness of the proposed formation control scheme.

中文翻译：

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具有非线性和扰动的多个四旋翼飞行器的鲁棒编队控制


本文研究了一组四旋翼飞行器的鲁棒编队控制问题。每个四旋翼飞行器动力学都表现出欠驱动、高非线性和耦合以及平移和旋转运动中的干扰的特征。开发了一种分布式鲁棒控制器，它由一个位置控制器和一个姿态控制器组成，位置控制器用于控制所需编队的平移运动，姿态控制器用于控制每个四旋翼飞行器的旋转运动。通过对多个不确定四旋翼飞行器编队的理论分析和仿真研究，验证了所提出的编队控制方案的有效性。