文献类型：期刊文献

英文题名：Model-Free Formation Control: Multi-input Adaptive Super-Twisting Approach Based onBarrier Function

作者：Cai, Yun-Song[1]; Xu, Jing[1]; Niu, Yu-Gang[1]

机构：[1] Key Laboratory of Energy and Chemical Process Intelligent Manufacturing, Ministry of Education, East China University of Science and Technology, Shanghai, 200237, China

年份：2024

卷号：1205 LNEE

起止页码：134

外文期刊名：Lecture Notes in Electrical Engineering

收录：EI(收录号：20243016759086)

语种：英文

外文关键词：Multi agent systems

摘要：Control effort is a major factor considered in formation control. This work proposes an super twisting control (STWC) algorithm for the cooperative formation flying of a multi-agent quadrotor system (MAQS). For unknown perturbations/uncertainties, a variable gain based on a barrier function is proposed. Then, By utilizing Lyapunov method, the convergence properties of the proposed method are rigorously analyzed. The effectiveness and merits of the proposed controller in formation construction and trajectory tracking is verified by simulation. ? The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.