Integral Backstepping Controller for UAVs Team Formation

Abstract

In this chapter, two controllers are investigated for stabilisation, path tracking and leader-follower team formation. The first controller is a PD2 implemented for attitude stability. The second controller is an Integral Backstepping IBS control algorithm presented for the path tracking and leader-follower team formation problems of quadrotors. This nonlinear control technique divide the control into two loops, the inner loop is for the attitude stabilisation and the outer loop is for the position control. The dynamic model of a quadrotor is represented based on Euler angles representation and includes some modelled aerodynamical effects as a nonlinear part. The IBS controller is designed for the translational part to track the desired trajectory and to track the leader quadrotor by the followers. Stability analysis is achieved via a suitable Lyapunov function. The external disturbance and model parameters uncertainty are considered in the simulation tests. The proposed controllers yielded good results in terms of Root Mean Square Error RMSE values, time-consumption, disturbance rejection and model parameter uncertainties change coverage.