\r窦立谦，杨闯，王丹丹，陈涛，秦新立\r
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AuthorsHTML:\r窦立谦，杨闯，王丹丹，陈涛，秦新立\r
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AuthorsListE:\rDou Liqian，Yang Chuang，Wang Dandan，Chen Tao，Qin Xinli\r
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AuthorsHTMLE:\rDou Liqian，Yang Chuang，Wang Dandan，Chen Tao，Qin Xinli\r
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Unit:\r天津大学电气自动化与信息工程学院，天津 300072\r
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Unit_EngLish:\rSchool of Electrical and Information Engineering，Tianjin University，Tianjin 300072，China\r
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Abstract_Chinese:\r针对一组欠驱动四旋翼无人机在编队飞行中仅有部分无人机可以直接获取领机状态信息的问题，提出了一种基于状态观测器的分布式有限时间编队跟踪控制策略．根据四旋翼无人机系统严格反馈的结构特点，将四旋翼无人机的动力学模型划分为位置子系统和姿态子系统，然后分别进行位置控制器和姿态控制器的设计．首先，考虑到在分布式的编队控制策略下，并非所有的无人机都能直接与领机进行通信并获取领机的状态信息．对每架四旋翼无人机分别设计分布式有限时间状态观测器估计自身与领机的相对状态信息，稳定性分析表明所设计的状态观测器的观测误差能够在有限时间内趋近于零；其次，在四旋翼无人机状态观测器观测结果的基础上设计了有限时间位置控制器，稳定性分析表明位置控制器能够在有限时间内实现对领机位置的稳定跟踪；然后根据位置环控制量解算出期望的姿态角，基于滑模控制方法设计了姿态控制器，稳定性分析表明各架无人机的姿态角能在有限时间内跟踪上期望的姿态角；最后，从仿真结果中能够看出所设计的状态观测器的观测误差能够在有限时间内趋近于零，即每架无人机的状态观测器能够在有限时间内观测到自身与领机的相对状态信息．从无人机飞行轨迹中能够看出各架无人机能够在有限时间内形成并保持期望的队形．\r
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Abstract_English:\rA distributed finite-time formation tracking control strategy based on a state observer is proposed for a group of under-actuated quadrotors，where only a part of the quadrotors can directly obtain the state information of the leader quadrotor. According to the strict feedback architecture of the quadrotor system，the dynamic model of the quadrotor is divided into the position and attitude subsystems，from which the position and attitude controllers are designed，respectively. First，given that not all quadrotors can communicate with the leader and obtain its state information under the condition of using a distributed formation control strategy，the distributed finite-time state observer is designed for each quadrotor to estimate its relative state information and that of the leader quadrotor. The stability analysis shows that the error of the state observer can reach zero in finite time. Second，a finite-time position controller is designed based on the observed results of the state observer. The stability analysis shows that the position controller can achieve stable tracking of the position of the leader quadrotor in finite time. Based on this finding，the desired attitude angle can be calculated according to the values of the position controller，and the attitude controller can be designed using the sliding mode control method. The stability analysis shows that the desired attitude angle of each quadrotor can be tracked in finite time. Finally，the simulations results show that the error of the designed state observer can reach zero in finite time，indicating that the state observer of each quadrotor can obtain the relative state information between itself and the leader quadrotor in finite time. The flight trajectory of each quadrotor can be used to generate and maintain the desired formation in finite time.\r
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Keyword_Chinese:四旋翼无人机；编队跟踪控制；状态观测器；分布式；有限时间稳定\r

Keywords_English:quadrotor；formation tracking control；state observer；distributed；finite-time stable\r


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