The aim of this work is to design a control system based on modern control methods to control flight formations of quadrotor unmanned aerial vehicles. A leader-follower methodology is implemented where the leader vehicle has some predefined trajectory and the follower vehicles are controlled in order to track the leader keeping a constant displacement. The formation control system, responsible for the vehicle formation, considers, at first, only the motion at constant height, and secondly, the three-dimensional motion. In both cases, the nonlinear control laws are derived based on Lyapunov stability theory and the Backstepping method. The control laws are validated in simulation resorting to a realistic environment and vehicle models.
Primary Language | English |
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Subjects | Aerospace Engineering |
Journal Section | Research Articles |
Authors | |
Publication Date | June 28, 2022 |
Submission Date | January 16, 2022 |
Published in Issue | Year 2022 Volume: 03 Issue: 01 |
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