摘要
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.
源语言 | 英语 |
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文章编号 | 8542740 |
页(从-至) | 601-609 |
页数 | 9 |
期刊 | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
卷 | 51 |
期 | 1 |
DOI | |
出版状态 | 已出版 - 1月 2021 |