The paper presents a distributed formation controller to deal with the formation control problems of quadrotor UAVs. A formation controller is developed to maintain the desired pattern among the quadrotor UAVs based on the leader–follower approach. The stability of the quadrotor UAVs is verified through the Lyapunov stability criteria. The proposed distributed formation controller is validated with different shapes of formations e.g., tetrahedron, octahedron, and cube shaped along with the leader quadrotor UAV. The simulation results illustrate that the quadrotor UAVs have successfully achieved and maintained the desired shape of formations. The performance of the proposed distributed formation controller is validated in presence of the external disturbances. The disturbances are incorporated into the system through the control inputs of the follower quadrotor UAVs. The formation controller performs satisfactorily in presence of the external disturbances also. The performance of the proposed formation controller is validated through comparative studies with the existing controllers in the literature. The proposed formation controller performs efficiently over the existing controllers.
Leader–Follower Based Formation Controller Design for Quadrotor UAVs
Trans Indian Natl. Acad. Eng.
Transactions of the Indian National Academy of Engineering ; 7 , 1 ; 325-338
01.03.2022
14 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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