Leader-Follower Trajectory Control for Quadrotors via Tracking Differentiators and Disturbance Observers

Hongjiu Yang; Lei Cheng; Jinhui Zhang; Yuanqing Xia

doi:10.1109/TSMC.2018.2872872

Leader-Follower Trajectory Control for Quadrotors via Tracking Differentiators and Disturbance Observers

Hongjiu Yang, Lei Cheng, Jinhui Zhang^*, Yuanqing Xia

^*Corresponding author for this work

School of Automation

Research output: Contribution to journal › Article › peer-review

40 Citations (Scopus)

Abstract

In this paper, both a trajectory tracking controller and a position controller are investigated for leader-follower trajectory control of quadrotors. A tracking differentiator is designed to generate speed signals for the quadrotors which are composed of a leader and some followers. Based on state errors between the leader and followers, a nonlinear disturbance observer is used in the trajectory tracking controller. A saturation law with anti-trigonometric functions is adopted in the position controller for the leader and followers. Experiment results are given to show the applicability of the proposed method for quadrotors.

Original language	English
Article number	8542740
Pages (from-to)	601-609
Number of pages	9
Journal	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume	51
Issue number	1
DOIs	https://doi.org/10.1109/TSMC.2018.2872872
Publication status	Published - Jan 2021

Keywords

Disturbance observer
position controller
quadrotor
tracking differentiator
trajectory tracking controller

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10.1109/TSMC.2018.2872872

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abstract = "In this paper, both a trajectory tracking controller and a position controller are investigated for leader-follower trajectory control of quadrotors. A tracking differentiator is designed to generate speed signals for the quadrotors which are composed of a leader and some followers. Based on state errors between the leader and followers, a nonlinear disturbance observer is used in the trajectory tracking controller. A saturation law with anti-trigonometric functions is adopted in the position controller for the leader and followers. Experiment results are given to show the applicability of the proposed method for quadrotors.",

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AU - Xia, Yuanqing

PY - 2021/1

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AB - In this paper, both a trajectory tracking controller and a position controller are investigated for leader-follower trajectory control of quadrotors. A tracking differentiator is designed to generate speed signals for the quadrotors which are composed of a leader and some followers. Based on state errors between the leader and followers, a nonlinear disturbance observer is used in the trajectory tracking controller. A saturation law with anti-trigonometric functions is adopted in the position controller for the leader and followers. Experiment results are given to show the applicability of the proposed method for quadrotors.

KW - Disturbance observer

KW - position controller

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KW - tracking differentiator

KW - trajectory tracking controller

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Leader-Follower Trajectory Control for Quadrotors via Tracking Differentiators and Disturbance Observers

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Keywords

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