The design of a controller based on classical methods to control flight formation of multi-UAV quadrotors is presented. A leader-follower methodology is implemented where the leader has some predefined trajectory and a follower is controlled in order to track the leader keeping a constant displacement in its reference frame. The formation control solution is done in two steps: first, by considering only the motion at constant height, and second, a three-dimensional motion was considered. In both cases, the nonlinear control laws are derived based on Lyapunov stability and the backstepping method.
Nonlinear Control of Multi-quadrotor Flight Formations
Sustainable aviat.
International Symposium on Unmanned Systems and The Defense Industry ; 2021 ; Washington, DC, DC, USA October 26, 2021 - October 28, 2021
2023-06-28
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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