Design of multi-constraint robust formation controller based on error model

UAVs formation is a complex nonlinear system. Although quadrotor has many advantages, its dynamics model nonlinear, coupled, and under driven. For model-based controller design, physical constraints, uncertainties external disturbances significantly deteriorate control performance. Therefore, multi-constraints MPC strategy based on error proposed for the formation. Firstly, 3D established by using Lagrange-Euler formulation, in which divided into RS TS. The corresponding multi-constraint designed two subsystems respectively. tracking errors caused can be eliminated because of integrator embedded augmented model. Comparing with RMPC, making reasonable modifications to cost function, asymptotic stability open loop closed-loop subsystem ensured MMPC. Moreover, analysis above-mentioned algorithm carried out. simulation results show that not only achieve good path tracking, but also robustness multiple constraints disturbances.