Adaptive bearing rigid formation control for quadrotor UAV
For a quadrotor UAV(unmanned aerial vehicle)system with wind disturbance,a bear-ing-only formation control strategy is proposed.Firstly,the potential energy function is construc-ted to design the bearing rigid formation control strategy.Furthermore,the parameter adaptive estimation is introduced to compensate the system,which eliminates the influence of external wind disturbance on the flight performance of the quadrotor UAV system.Subsequently,Barbalat's Lemma is utilized to verify that the quadrotor UAV system can achieve the desired formation shape,and to prove global stability of the multi-UAV formation system.Ultimately,the simulation out-comes corroborate the efficacy of the adaptive bearing rigid formation control strategy for UAVs.
万方数据
维普
