Robust Consensus Tracking Control for Multi-Unmanned-Aerial-Vehicle (UAV) System Subjected to Measurement Noise and External Disturbance
In practice, the consensus performance of a multi-UAV system can degrade significantly due to the presence of measurement noise and disturbances. However, simultaneously rejecting the noise and disturbances to achieve high-precision consensus tracking control is rather challenging. In this paper, to...
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| Format: | Article |
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MDPI AG
2025-01-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/9/1/61 |
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| author | Zhiyuan Zheng Shiji Tong Erquan Wang Yang Zhu Jinliang Shao |
| author_facet | Zhiyuan Zheng Shiji Tong Erquan Wang Yang Zhu Jinliang Shao |
| author_sort | Zhiyuan Zheng |
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| description | In practice, the consensus performance of a multi-UAV system can degrade significantly due to the presence of measurement noise and disturbances. However, simultaneously rejecting the noise and disturbances to achieve high-precision consensus tracking control is rather challenging. In this paper, to address this issue, we propose a novel distributed consensus tracking control framework consisting of a distributed observer and a local dual-estimator-based tracking controller. Each UAV’s distributed observer estimates the leader’s states and generates the local reference, functioning even under a switching communication topology. In the local tracking controller design, we reveal that classic uncertainty and disturbance estimator (UDE)-based control can magnify the noise. By combining the measurement error estimator (MEE) with UDE, a local robust tracking controller is designed to reject noise and disturbances simultaneously. The parameter tuning of MEE and UDE is unified into a single parameter, and the monotonic relationship between this parameter and system performance is revealed by the singular perturbation theorem. Finally, the validity of the proposed control framework is verified by both simulation and comparative real-world experiments. |
| format | Article |
| id | doaj-art-dde4bbb74e3946f6ad18de12b6630a7a |
| institution | Kabale University |
| issn | 2504-446X |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-dde4bbb74e3946f6ad18de12b6630a7a2025-01-24T13:29:50ZengMDPI AGDrones2504-446X2025-01-01916110.3390/drones9010061Robust Consensus Tracking Control for Multi-Unmanned-Aerial-Vehicle (UAV) System Subjected to Measurement Noise and External DisturbanceZhiyuan Zheng0Shiji Tong1Erquan Wang2Yang Zhu3Jinliang Shao4School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, ChinaSchool of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, ChinaSchool of Information Science and Technology, Southwest Jiaotong University, Chengdu 611756, ChinaSchool of Information Science and Technology, Southwest Jiaotong University, Chengdu 611756, ChinaSchool of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, ChinaIn practice, the consensus performance of a multi-UAV system can degrade significantly due to the presence of measurement noise and disturbances. However, simultaneously rejecting the noise and disturbances to achieve high-precision consensus tracking control is rather challenging. In this paper, to address this issue, we propose a novel distributed consensus tracking control framework consisting of a distributed observer and a local dual-estimator-based tracking controller. Each UAV’s distributed observer estimates the leader’s states and generates the local reference, functioning even under a switching communication topology. In the local tracking controller design, we reveal that classic uncertainty and disturbance estimator (UDE)-based control can magnify the noise. By combining the measurement error estimator (MEE) with UDE, a local robust tracking controller is designed to reject noise and disturbances simultaneously. The parameter tuning of MEE and UDE is unified into a single parameter, and the monotonic relationship between this parameter and system performance is revealed by the singular perturbation theorem. Finally, the validity of the proposed control framework is verified by both simulation and comparative real-world experiments.https://www.mdpi.com/2504-446X/9/1/61multi-UAV systemsconsensus tracking controldistributed controlmeasurement noise and disturbance rejection |
| spellingShingle | Zhiyuan Zheng Shiji Tong Erquan Wang Yang Zhu Jinliang Shao Robust Consensus Tracking Control for Multi-Unmanned-Aerial-Vehicle (UAV) System Subjected to Measurement Noise and External Disturbance Drones multi-UAV systems consensus tracking control distributed control measurement noise and disturbance rejection |
| title | Robust Consensus Tracking Control for Multi-Unmanned-Aerial-Vehicle (UAV) System Subjected to Measurement Noise and External Disturbance |
| title_full | Robust Consensus Tracking Control for Multi-Unmanned-Aerial-Vehicle (UAV) System Subjected to Measurement Noise and External Disturbance |
| title_fullStr | Robust Consensus Tracking Control for Multi-Unmanned-Aerial-Vehicle (UAV) System Subjected to Measurement Noise and External Disturbance |
| title_full_unstemmed | Robust Consensus Tracking Control for Multi-Unmanned-Aerial-Vehicle (UAV) System Subjected to Measurement Noise and External Disturbance |
| title_short | Robust Consensus Tracking Control for Multi-Unmanned-Aerial-Vehicle (UAV) System Subjected to Measurement Noise and External Disturbance |
| title_sort | robust consensus tracking control for multi unmanned aerial vehicle uav system subjected to measurement noise and external disturbance |
| topic | multi-UAV systems consensus tracking control distributed control measurement noise and disturbance rejection |
| url | https://www.mdpi.com/2504-446X/9/1/61 |
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