This paper presents a consensus-based coordination protocol, using a fuzzy logic gain scheduling algorithm, for the formation flight of multiple quadrotors UAVs. The Newton-Euler approach is used to present the equations of motions for the multiple quadrotors UAVs. The formation flight consists of a distributed approach. Real-time experiments are presented in order to test the capabilities of the online tuning of consensus parameters, as well as a comparison with a fixed gain protocol. In effect, the variable gain consensus protocol shows a smoother output while maintaining a robust performance against induced wind gusts, in comparison with fixed gain coordination approach.


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    Title :

    A fuzzy gain scheduling control algorithm for formation flight of multi-UAVs


    Contributors:


    Publication date :

    2019-06-01


    Size :

    1887941 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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