A Smooth Distributed Formation Control Method for Quadrotor UAVs Under Event-Triggering Mechanism and Switching Topologies

• Published in: IEEE transactions on vehicular technology Vol. 74; no. 7; pp. 10081 - 10091
• Main Authors: Huang, Yi, Xu, Xiangfan, Meng, Ziyang, Sun, Jian
• Format: Journal Article
• Language: English
• Published: IEEE 01.07.2025
• Subjects: Attitude control; Autonomous aerial vehicles; Event detection; event-triggering mechanism; Formation control; Heuristic algorithms; Quadrotors; Sun; Switches; switching topologies; Topology; unmanned aerial vehicles (UAVs); Vehicle dynamics

This paper focuses on the formation control problem of a team of quadrotor unmanned aerial vehicles (UAVs) subject to switching directed topologies. We present a distributed event-triggered formation control algorithm via hierarchical framework, which achieves the formation control objective with we...