Intelligent Formation Control Using ORFBLS and Adaptive backstepping Sliding-Mode Control to address Uncertain Tilting in multi-Quadrotors during Wind Gusts

Authors

Ching-Chih Tsai, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, ROC.Follow
Chun-Fu Mao, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, ROC.
Kumail Hussain, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, ROC

Abstract

In terms of aerial robotics, stable and precise formation control is a significant challenge for tilting multi-quadrotors during disturbances. This paper proposes a fixed-time formation control strategy for tilting multi-quadrotors to address the effect of external wind gusts. The observer accurately predicts environmental disturbances and an adaptive backstepping sliding-mode control (ABSMC) method with an output recurrent fuzzy broad learning system (ORFBLS) addresses these disturbances within a finite time. ORFBLS dynamically adjusts its structure through a growing ORFBLS structure to allow nodes to be added as needed. The method's stability is validated using Lyapunov stability theory and ensures the convergence of the quadrotor's states within a fixed time, irrespective of mass variations. Comparative simulations and experimental validations using three cooperative tilting quadrotors demonstrate the proposed control system's effectiveness, which is enhanced by the ORFBLS structure and accurate disturbance detection and compensation. These simulations and experiments confirm the method's adaptability and its ability to maintain a stable formation during wind gusts

Recommended Citation

Tsai, Ching-Chih; Mao, Chun-Fu; and Hussain, Kumail (2026) "Intelligent Formation Control Using ORFBLS and Adaptive backstepping Sliding-Mode Control to address Uncertain Tilting in multi-Quadrotors during Wind Gusts," Journal of Marine Science and Technology–Taiwan: Vol. 34: Iss. 1, Article 10.
DOI: 10.51400/2709-6998.2816
Available at: https://jmstt.ntou.edu.tw/journal/vol34/iss1/10