Adaptive Distributed Attitude Consensus of a Heterogeneous Multiagent Quadrotor System: Singular Perturbation Approach Article Swipe
Jing Xu
,
Yugang Niu
,
Hak‐Keung Lam
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.1109/taes.2023.3264495
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.1109/taes.2023.3264495
Singular perturbations easily cause the problem of high gain control (HGC) of a multiagent 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. 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 ε -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.
Related Topics
Concepts
Control theory (sociology)
Multi-agent system
Controller (irrigation)
Computer science
Perturbation (astronomy)
Lipschitz continuity
Attitude control
Basis (linear algebra)
Mathematics
Control engineering
Control (management)
Engineering
Pure mathematics
Artificial intelligence
Physics
Geometry
Agronomy
Quantum mechanics
Biology
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/taes.2023.3264495
- OA Status
- gold
- Cited By
- 17
- References
- 30
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4362689485
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4362689485Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1109/taes.2023.3264495Digital Object Identifier
- Title
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Adaptive Distributed Attitude Consensus of a Heterogeneous Multiagent Quadrotor System: Singular Perturbation ApproachWork title
- Type
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articleOpenAlex work type
- Language
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enPrimary language
- Publication year
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2023Year of publication
- Publication date
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2023-04-06Full publication date if available
- Authors
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Jing Xu, Yugang Niu, Hak‐Keung LamList of authors in order
- Landing page
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https://doi.org/10.1109/taes.2023.3264495Publisher landing page
- Open access
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YesWhether a free full text is available
- OA status
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goldOpen access status per OpenAlex
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https://kclpure.kcl.ac.uk/portal/en/publications/ddbef5d5-9823-4d6c-9d31-a0f1ae6bfe01Direct OA link when available
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Control theory (sociology), Multi-agent system, Controller (irrigation), Computer science, Perturbation (astronomy), Lipschitz continuity, Attitude control, Basis (linear algebra), Mathematics, Control engineering, Control (management), Engineering, Pure mathematics, Artificial intelligence, Physics, Geometry, Agronomy, Quantum mechanics, BiologyTop concepts (fields/topics) attached by OpenAlex
- Cited by
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17Total citation count in OpenAlex
- Citations by year (recent)
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2025: 7, 2024: 10Per-year citation counts (last 5 years)
- References (count)
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30Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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