论文标题
分布式领导者 - 追随者编队跟踪多个四轮摩托车的控制
Distributed Leader-Follower Formation Tracking Control of Multiple Quad-rotors
论文作者
论文摘要
本文研究了针对多个四轮旋转系统的领导者追随者形成控制分析。为了在三维空间（$ x，y $和$ z $）中实现预定义的地层，获得了新颖的本地跟踪控制法和分布式观察者。本地跟踪控制法始于在$ z $中找到有界的连续但大于零的控制，其反馈线性化控件是针对与$ x $和$ y $相关的错误得出的。分布式观察者在追随者之间达到了位置协调，尽管只有部分追随者才能知道领导者的州，并且只有邻近的交流。仿真结果验证了提出的形成方案。
The leader-follower formation control analysis for multiple quad-rotor systems is investigated in this paper. To achieve predefined formation in the three-dimensional air space ($x,y$ and $z$), a novel local tracking control law and a distributed observer are obtained. The local tracking control law starts with finding a bounded continuous yet greater-than-zero control in $z$, based on which following a feedback linearization controls derived for errors associated with $x$ and $y$. The distributed observer achieves position coordination among followers, though there are only partial followers can know the leader's states and only neighboring communication is available. Simulation results validate the proposed formation scheme.
