Integrated cooperative control scheme for multiple quadrotors based on improved adaptive disturbance rejection control

This paper presents an integrated cooperative control scheme for multiple quadrotors. The design of cooperative control scheme mainly consists of the upper formation controller and the bottom trajectory tracking controller. Firstly the “leader-follower” formation model and the quadrotor dynamic model are established, with trajectory tacking errors, measurement errors and communication time delay concerned. On one hand, the extended state observer (ESO) is constructed to estimate and attenuate the disturbances for the formation controller. The communication time delay is handled with the specially designed improved adaptive disturbance rejection control (ADRC) law. On the other hand, the trajectory tracking controller is realized using double-loop control laws, which are the dynamic inversion (DI) law in the outer loop and back-stepping law in the inner loop. The stability of the closed-loop system is analyzed with the Lyapunov method. Finally, a series of simulations are conducted to validate the effectiveness of integrated cooperative control scheme.