Compensation Function Observer-Based Model-Compensation Formation Control and Application to Quadrotor UAV

The problem of distributed synchronous coordinated formation control of multiple quadrotor UAV s in master-slave structure is studied, and a distributed consensus control algorithm with anti-disturbance function is proposed to ensure the stability of the system when it is subject to external disturbance. First, for the unknown control subsystem, based on proportional differential control and consensus theory, a coordinated formation control law is designed based on compensation function observer (CFO) for multiple quadrotor UAV s, so that all quadrotor UAV s can converge to the desired states given by the leader and move with the ideal formation configuration. The distributed consensus control law designed for the position system is used as the reference input of the attitude control subsystem through the solution module. Secondly, to follow the desired yaw angle signal, an attitude tracking control law is also designed based on the CFO. For the roll angle and pitch angle of the attitude control subsystem, a model-independent model compensation controller (MCC) is adopted to make it track the desired attitude. Finally, the effectiveness of the proposed method is verified by numerical simulation.