Distributed Formation Control for Multiple Quadrotor Based on Multi‐Agent Theory and Disturbance Observer

Abstract

This paper presents the disturbance observers‐based distributed formation control for multiple quadrotor aircrafts with external disturbances and uncertain parameters using multi‐agent theory and finite‐time control method. Firstly, the finite‐time disturbance observers are proposed to handle the external disturbances on the position‐loop. Similarly, when there are both the uncertain parameters and external disturbances on the attitude‐loop, the finite‐time disturbance observers are designed to estimate the total lump disturbances. By skillfully using homogeneous system theory, Lyapunov theory, and multi‐agent theory, the distributed formation control algorithms are developed. Finally, through simulations, the efficiency of the proposed method (including the convergence rate and disturbance rejection) is verified.