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 <italic>unknown Lipschitz input disturbances and directed topology</italic>. 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 <inline-formula><tex-math notation="LaTeX">$\epsilon$</tex-math></inline-formula>-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.
|Number of pages||11|
|Journal||IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS|
|Publication status||Published - 23 Mar 2023|