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Updated: Jul 12, 2025

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Distributed Active Disturbance Rejection Formation Tracking Control for Quadrotor UAVs.

Lin-Xing Xu, Yu-Long Wang, Xiaofan Wang

IEEE Transactions on Cybernetics

|November 1, 2023

Summary

This study introduces a novel control strategy for quadrotor unmanned aerial vehicle (UAV) swarms, ensuring stable formation tracking despite communication changes and disturbances. The method enhances swarm stability and trajectory precision.

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Area of Science:

Robotics and Control Systems
Aerospace Engineering
Distributed Systems

Background:

Quadrotor unmanned aerial vehicle (UAV) swarms are increasingly complex, requiring robust control for coordinated tasks.
Switching communication topologies and unknown disturbances pose significant challenges to swarm stability and formation tracking.

Purpose of the Study:

To develop a distributed active disturbance rejection formation tracking control strategy for quadrotor UAV swarms.
To ensure stable attitude and position control under dynamic and uncertain environmental conditions.

Main Methods:

A two-part control strategy: distributed cascade active disturbance rejection control (CADRC) for attitude and distributed formation tracking control for position.
Stability analysis to guarantee the overall swarm system's stability.

Main Results:

The attitude subsystem achieves stability despite unknown time-varying disturbances.
The position subsystem ensures dynamic formation flying and accurate trajectory tracking for the UAV swarm.
The proposed control strategy effectively suppresses disturbances and maintains swarm stability.

Conclusions:

The developed distributed active disturbance rejection formation tracking control strategy is effective for quadrotor UAV swarms.
The control method ensures robust performance and stability in the presence of switching topologies and disturbances.
This strategy enhances the reliability and precision of UAV swarm operations.