This paper studies the flocking problem for Quadrotors in three-dimensional space. Each Quadrotor’s attitude dynamics is considered. Motivated by consensus algorithms of multi-agent and attitude control of aircraft, we design a distributed control law to achieve the flocking of quadrotors. The convergence is proved by Lyapunov function and Lie group algebra. And the simulation results are given to demonstrate the effectiveness of the proposed control law.
Flocking Control of Multi-Quadrotor System of Systems
01.08.2018
497953 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch