基于干扰观测器的分布式四旋翼编队跟踪控制
Disturbance Observer-Based Distributed Formation Tracking Control for Multiple Quadrotor

针对具有模型不确定性和外部干扰的一组欠驱动四旋翼飞行器提出了一种基于干扰观测器的分布式编队跟踪控制策略．根据系统严格反馈的结构特点, 将四旋翼的动力学模型划分为位置子系统和姿态子系统．首先, 根据快速终端滑模方法(FTSM)设计了一个干扰观测器作为复合干扰的估计器; 其次, 基于图论和快速终端滑模技术, 设计了分布式编队跟踪控制器来实现编队的形成和保持; 并在两个子系统之间, 引入三阶积分滤波器对姿态子系统的虚拟输入及其导数进行估计; 最后, 稳定性分析表明闭环控制系统是全局渐进稳定的．仿真结果表明所提出的分布式控制器是有效的．
A distributed formation tracking control method based on disturbance observer is proposed for a team of underactuated quadrotor with model uncertainties and external disturbances. According to the strict feedback architecture of the system，the dynamic model of the quadrotor is divided into position subsystem and attitude subsystem. Firstly，a disturbance observer is designed as an estimator of compound perturbation based on the fast terminal sliding mode(FTSM)method. Secondly，based on graph theory and fast terminal sliding mode technology，a distributed formation tracking controller is designed to achieve and maintain the formation. Between the two subsystems，a third-order integral filter is used to estimate the virtual input of the attitude subsystem and its derivations. Finally，the closed-loop control system is proved to be globally asymptotically stable through the stability analysis. Simulation results show that the proposed distributed formation controllers are effective