Abstract
Event-triggering formation control is investigated for second-order multi-agent systems (SOMASs) with compound disturbances. A novel adaptive distributed robust event-triggering controller is developed based on the gain adaptive method and terminal sliding mode (TSM) method. Unlike the existing event-based control algorithm for SOMASs, the proposed algorithm can achieve practical finite-time stability, anti-disturbance, and independence from any global information simultaneously. Furthermore, an extended observer-based adaptive finite-time event-triggered controller is designed to improve the formation accuracy. The theoretical results are demonstrated by numerical simulations and experimental verification using three bebop2 quadrotor UAVs.
This paper is China Postdoctoral Science Foundation 2019TQ0033.
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Wang, J., Kuang, Q., Wang, D., Wang, C., Shan, J. (2022). Adaptive Finite-Time Event-Triggered Formation Control for Quadrotor UAVs with Experimentation. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_411
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DOI: https://doi.org/10.1007/978-981-15-8155-7_411
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