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Formation Control of Multiple UAVs Incorporating Extended State Observer-Based Model Predictive Approach

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Abstract

This paper studies the extended state observer-based state space predictive control approach to deal with the multiple unmanned aerial vehicle formation flight with unknown disturbances. The distributed control problem for a class of multiple unmanned aerial vehicle systems with reference trajectory tracking and disturbance rejection is formulated. Firstly, a local distributed controller is designed by using the state space predictive control approach based on an error model to achieve stable tracking. Then, a feedforward compensation controller is introduced by using the extended state observer to estimate and compensate disturbances and improve the ability of anti-interference. Besides, the bounded stability of the designed extended state observer is analyzed as well. Finally, the simulation examples are provided to illustrate the validity of the proposed control structure.

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Acknowledgements

The authors gratefully acknowledge the support of Aeronautical Science Foundation of China under Grant no. 20155896025.

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Authors and Affiliations

  1. Equipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi’an, 710051, China

    Boyang Zhang, Xiuxia Sun, Shuguang Liu & Xiongfeng Deng

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  1. Boyang Zhang
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  2. Xiuxia Sun
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  3. Shuguang Liu
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  4. Xiongfeng Deng
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Correspondence to Boyang Zhang.

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Zhang, B., Sun, X., Liu, S. et al. Formation Control of Multiple UAVs Incorporating Extended State Observer-Based Model Predictive Approach. Int. J. Aeronaut. Space Sci. 20, 953–963 (2019). https://doi.org/10.1007/s42405-019-00180-7

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