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Robust distributed fixed-time cooperative hunting control for multi-quadrotor with obstacles avoidance.

Ge Song1, Jiazhong Xu1, Liwei Deng1

  • 1School of Automation, Harbin University of Science and Technology, Harbin 150080, China.

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Summary

This study presents a robust control strategy for multiple quadrotors performing cooperative hunting in complex environments. The method ensures fixed-time convergence for obstacle avoidance and target encirclement, even with disturbances.

Keywords:
Cooperative hunting controlFixed-time controlMulti-agent systemsObstacles avoidance

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Area of Science:

  • Robotics
  • Control Systems
  • Distributed Systems

Background:

  • Quadrotor systems face challenges in cooperative tasks due to underactuation and environmental disturbances.
  • Robust control is essential for reliable operation in dynamic and obstacle-rich environments.

Purpose of the Study:

  • To address the robust distributed fixed-time cooperative hunting problem for multiple quadrotors.
  • To develop a control strategy that ensures fixed-time convergence for target encirclement and obstacle avoidance.

Main Methods:

  • An inner-outer loop cascade control configuration for quadrotor dynamics.
  • Distributed and extended state observers for target estimation and disturbance rejection.
  • Sliding mode control with repulsive forces for position and attitude subsystems.

Main Results:

  • Achieved fixed-time convergence for cooperative hunting and obstacle avoidance.
  • Demonstrated robustness against external disturbances.
  • Validated the proposed control strategy through simulation comparisons.

Conclusions:

  • The developed control strategy enhances the robustness and fixed-time convergence of cooperative quadrotor systems.
  • The approach effectively handles underactuation and environmental uncertainties in cooperative hunting scenarios.