Virtual Damping Injection Adaptive Feedback System for Quadcopter Formation Applications via Order Reduction Approach

초록

This article proposes a multiloop feedback system that utilizes the virtual damping (VD) injection technique to ensure critically damped input-output behavior for each quadcopter in a multiagent topology. The proposed framework also considers system nonlinearity and model-plant mismatches to ensure robustness while maintaining a simple proportional-derivative (PD) controller design for convenient industrialization. The benefits of the proposed system are threefold. First, the observer allows both the outer and inner loops to feed back the time-derivative components of the position and attitude measurements, without requiring any system model information. Second, the PD-type adaptive controllers for each loop incorporate observer-based VD components into the feedforward and feedback loops to attenuate disturbances. Third, based on a nonlinear combination of two design parameters for VD and the desired convergence rate, the critically damped transfer function for the closed loop is determined using the order-reduction technique. A hardware testbed with the three quadcopters confirmed the practical advantages of the proposed solution in maintaining specified formations.

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