Self‐Triggered Formation Control of Heterogeneous Quadrotors on TSE(3)N in Presence of External Disturbances

ABSTRACT In this paper, the formation control strategy is designed for a class of multi‐agent systems with heterogeneous quadrotor UAVs structure subjected to external disturbances and modeling uncertainties. Specifically, a self‐triggered scheme is developed to reduce network load, which computes the next triggering instant based on past and current transmitted states. Further, the unmeasurable states are estimated by applying an extended state observer. Based on the LaSalle's invariance principle, Lyapunov‐based approach is analyzed with some sufficient conditions proposed for the considered heterogeneous systems, while avoiding the Zeno phenomenon. Finally, we validate the effectiveness of the proposed algorithms through a simulation result.