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A Leader-Follower Trajectory Tracking Controller for Multi-Quadrotor Formation Flight

Yıl 2022, Cilt: 03 Sayı: 01, 13 - 20, 28.06.2022

Öz

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.

Kaynakça

  • Alcocer, R., Valenzuela, J., & Colorado, R. (2016). A robust approach for trajectory tracking control of a quadrotor with experimental validation. ISA Transactions, 65, 262-274.
  • Bacelar, T., Cardeira, C., & Oliveira, P. (2019). Cooperative Load Transportation with Quadrotors. IEEE International Conference on Autonomous Robot Systems and Competions, (pp. 1-6).
  • Balch, T., & Arkin, R. (1998). Behavior-based formation control for multirobot teams. IEEE Transactions on Robotics and Automation, 14, 926-939.
  • Bouabdallah, S., & Siegwart, R. (2005). Backstepping and Sliding-Mode Techniques Applied to an Indoor Micro Quadrotor. International Conference on Robotics and Automation.
  • Das, A., Fierro, R., Kumar, V., Ostrowski, J., Spletzer, J., & Taylor, C. (2002). A vision-based formation control framework. IEEE Transactions on Robotics and Automation, 18, 813-825.
  • Ju, C., & Son, H. (2018). Multiple UAV Systems for Agricultural Applications: Control, Implementation and Evaluation. Electronics, 7.
  • Khalil, H. (2014). Nonlinear Systems. Pearson.
  • Leonard, N., & Fiorelli, E. (2001). Virtual leaders, artificial potentials and coordinated control of groups. Proceedings of the 40th IEEE Conference on Decision and Control, 3, pp. 2968-2973.
  • Pounds, P., Mahony, R., & Corke, P. (2010). Modelling and control of a large quadrotor robot. Control Engineering Practice, 18, 691-699.
  • Rosalie, M., Dentler, J., Danoy, G., Bouvry, P., Kannan, S., Mendez, M., & Voos, H. (2017). Area exploration with a swarm of UAVs combining deterministic chaotic ant colony mobility with position MPC. International Conference on Unmanned Aircraft Systems, (pp. 1392-1397).
  • Scherer, J., & Rinner, B. (2020). Multi-UAV Surveillance With Minimum Information Idleness and Latency Constraints. IEEE Robotics and Automation Letters, 4812-4819.
  • Shao, J., Xie, G., & Wang, L. (2007). Leader-following formation control of multiple mobile vehicles. IET Control Theory and Applications, 1, 545-552.
Yıl 2022, Cilt: 03 Sayı: 01, 13 - 20, 28.06.2022

Öz

Kaynakça

  • Alcocer, R., Valenzuela, J., & Colorado, R. (2016). A robust approach for trajectory tracking control of a quadrotor with experimental validation. ISA Transactions, 65, 262-274.
  • Bacelar, T., Cardeira, C., & Oliveira, P. (2019). Cooperative Load Transportation with Quadrotors. IEEE International Conference on Autonomous Robot Systems and Competions, (pp. 1-6).
  • Balch, T., & Arkin, R. (1998). Behavior-based formation control for multirobot teams. IEEE Transactions on Robotics and Automation, 14, 926-939.
  • Bouabdallah, S., & Siegwart, R. (2005). Backstepping and Sliding-Mode Techniques Applied to an Indoor Micro Quadrotor. International Conference on Robotics and Automation.
  • Das, A., Fierro, R., Kumar, V., Ostrowski, J., Spletzer, J., & Taylor, C. (2002). A vision-based formation control framework. IEEE Transactions on Robotics and Automation, 18, 813-825.
  • Ju, C., & Son, H. (2018). Multiple UAV Systems for Agricultural Applications: Control, Implementation and Evaluation. Electronics, 7.
  • Khalil, H. (2014). Nonlinear Systems. Pearson.
  • Leonard, N., & Fiorelli, E. (2001). Virtual leaders, artificial potentials and coordinated control of groups. Proceedings of the 40th IEEE Conference on Decision and Control, 3, pp. 2968-2973.
  • Pounds, P., Mahony, R., & Corke, P. (2010). Modelling and control of a large quadrotor robot. Control Engineering Practice, 18, 691-699.
  • Rosalie, M., Dentler, J., Danoy, G., Bouvry, P., Kannan, S., Mendez, M., & Voos, H. (2017). Area exploration with a swarm of UAVs combining deterministic chaotic ant colony mobility with position MPC. International Conference on Unmanned Aircraft Systems, (pp. 1392-1397).
  • Scherer, J., & Rinner, B. (2020). Multi-UAV Surveillance With Minimum Information Idleness and Latency Constraints. IEEE Robotics and Automation Letters, 4812-4819.
  • Shao, J., Xie, G., & Wang, L. (2007). Leader-following formation control of multiple mobile vehicles. IET Control Theory and Applications, 1, 545-552.
Toplam 12 adet kaynakça vardır.

Ayrıntılar

Birincil Dil İngilizce
Konular Uzay Mühendisliği
Bölüm Research Articles
Yazarlar

Diogo Ferreira 0000-0002-2904-8580

Yayımlanma Tarihi 28 Haziran 2022
Gönderilme Tarihi 16 Ocak 2022
Yayımlandığı Sayı Yıl 2022 Cilt: 03 Sayı: 01

Kaynak Göster

APA Ferreira, D. (2022). A Leader-Follower Trajectory Tracking Controller for Multi-Quadrotor Formation Flight. International Journal of Aviation Science and Technology, 03(01), 13-20.

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