Publication:
Disturbance Observer-based Formation Tracking Control Of Multiple Quadrotors In The Presence Of Disturbances

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dc.contributor.authorIzzuddin M Lazimen_US
dc.contributor.authorAbdul Rashid Husainen_US
dc.contributor.authorZaharuddin Mohameden_US
dc.contributor.authorMohd Ariffanan Mohd Basrien_US
dc.contributor.authorNurul Adilla Mohd Subhaen_US
dc.contributor.authorLiyana Ramlien_US
dc.date.accessioned2024-05-27T14:40:45Z
dc.date.available2024-05-27T14:40:45Z
dc.date.issued2019
dc.date.submitted13/12/2019
dc.descriptionVolume: 41 issue: 14, page(s): 4129-4141en_US
dc.description.abstractThe presence of disturbances may bring adverse effects to the formation flight of multiple quadrotors. This paper proposes a robust disturbance observer-based feedback linearization that enhances the formation tracking control of quadrotors to achieve the desired formation shapes under the effect of disturbances. The method not only retains the simplicity of the control scheme using feedback linearized quadrotor model, but also has the capability to reject the disturbances. This is achieved by introducing a disturbance observer to estimate and attenuate the lumped disturbance that causes inexact inversion in the feedback linearization of the quadrotor. Then, a distributed formation tracking algorithm is adopted to ensure the quadrotors are able to form up and maintain the desired formation shape and heading via local communication between neighbours with respect to a leader that has nonzero control input. To evaluate the effectiveness of the proposed method, simulation experiments of multiple quadrotor formations using the proposed approach are conducted under several test cases. Results obtained demonstrate the superiority of the proposed control scheme for a more robust formation tracking as compared with the formation without the disturbance observer. Keywords Disturbance rejection, distributed control, feedback linearization, formation control, unmanned aerial vehiclesen_US
dc.identifier.doi10.1177/0142331219851925
dc.identifier.epage4141
dc.identifier.issn0142-3312
dc.identifier.issue14
dc.identifier.other2394-1
dc.identifier.spage4129
dc.identifier.urihttps://journals.sagepub.com/doi/10.1177/0142331219851925
dc.identifier.urihttps://oarep.usim.edu.my/handle/123456789/3590
dc.identifier.volume41
dc.language.isoenen_US
dc.publisherSAGE Publicationsen_US
dc.relation.ispartofTransactions of the Institute of Measurement and Controlen_US
dc.subjectDisturbance rejection,en_US
dc.subjectdistributed control,en_US
dc.subjectfeedback linearization,en_US
dc.subjectformation control,en_US
dc.subjectunmanned aerial vehiclesen_US
dc.titleDisturbance Observer-based Formation Tracking Control Of Multiple Quadrotors In The Presence Of Disturbancesen_US
dc.typeArticleen_US
dspace.entity.typePublication

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