Adaptive Distributed Attitude Consensus of a Heterogeneous Multi-Agent Quadrotor System: Singular Perturbation Approach

TY - JOUR

T1 - Adaptive Distributed Attitude Consensus of a Heterogeneous Multi-Agent Quadrotor System: Singular Perturbation Approach

AU - Xu, Jing

AU - Niu, Yugang

AU - Lam, Hak-Keung

N1 - Publisher Copyright: IEEE

PY - 2023/3/23

Y1 - 2023/3/23

N2 - Singular perturbations easily cause the problem of high gain control (HGC) of a multi-agent quadrotor system (MAQS), that easily excite hazardous high frequency oscillations in the system states. Without HGC, this work studies the distributed fixed-time attitude consensus control problem of multiple heterogeneous quadrotors in presence of unknown Lipschitz input disturbances and directed topology. First, the second order sliding mode, composed of consensus errors of “slow” Euler angles and “fast” angular velocities, is designed to be two-time-scale (TTS). Then, an adaptive super twisting controller is designed to produce an integrated slow-fast control structure, and adjust controller gains in different time scales with respect to the disturbance gradients. On this basis, an $\epsilon$-dependent Lyapunov framework is built for the MAQS on multiple time scales, which provide a rigorous theoretical basis for the fast and robust attitude consensus, and estimate the reaching time subject to singular perturbations. Simulation results on a heterogeneous MAQS consisting of four agents are provided to verify the effectiveness and efficiency of the proposed controller.

AB - Singular perturbations easily cause the problem of high gain control (HGC) of a multi-agent quadrotor system (MAQS), that easily excite hazardous high frequency oscillations in the system states. Without HGC, this work studies the distributed fixed-time attitude consensus control problem of multiple heterogeneous quadrotors in presence of unknown Lipschitz input disturbances and directed topology. First, the second order sliding mode, composed of consensus errors of “slow” Euler angles and “fast” angular velocities, is designed to be two-time-scale (TTS). Then, an adaptive super twisting controller is designed to produce an integrated slow-fast control structure, and adjust controller gains in different time scales with respect to the disturbance gradients. On this basis, an $\epsilon$-dependent Lyapunov framework is built for the MAQS on multiple time scales, which provide a rigorous theoretical basis for the fast and robust attitude consensus, and estimate the reaching time subject to singular perturbations. Simulation results on a heterogeneous MAQS consisting of four agents are provided to verify the effectiveness and efficiency of the proposed controller.

UR - http://www.scopus.com/inward/record.url?scp=85153357876&partnerID=8YFLogxK

U2 - 10.1109/TAES.2023.3264495

DO - 10.1109/TAES.2023.3264495

M3 - Article

SN - 0018-9251

SP - 1

EP - 11

JO - IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS

JF - IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS

ER -