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

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

Diogo Ferreira

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.

Anahtar Kelimeler

Unmanned Aerial Vehicle, Leader-follower, Lyapunov stability, Backstepping

Kaynakça

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