@inproceedings{278c864ad8e94a7f9f8a845f3f773c1c,
title = "A Heterogeneity-Aware Adaptive Distributed Control Algorithm for Tri-Quadrotor Array",
abstract = "This paper proposes a heterogeneity-aware adaptive virtual distributed control algorithm for unmanned aerial vehicle (UAV) array composed of tri-quadrotor modules. A consensus-based virtual structure approach is developed to coordinate the UAV array using only local information and neighbor communication, where an adaptive distributed control law drives all coordination variables to consensus on the desired formation configuration. The control design incorporates feedback of each UAV's tracking error and inter-module coupling. Simulation experiments on two array configurations validate the effectiveness of the proposed approach. The results demonstrate that the UAV array can achieve stable formation holding and accurately track a sequence of target waypoints under the distributed controller.",
keywords = "distributed control, formation control, heterogeneity-aware, UAV array, virtual structure",
author = "Yaxuan Liu and Qi Gao and Xinru Xie and Feng Pan",
note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 38th Chinese Control and Decision Conference, CCDC 2026 ; Conference date: 15-05-2026 Through 18-05-2026",
year = "2026",
doi = "10.1109/CCDC69976.2026.11560124",
language = "English",
series = "38th Chinese Control and Decision Conference, CCDC 2026",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "270--275",
booktitle = "38th Chinese Control and Decision Conference, CCDC 2026",
address = "United States",
}