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.
A fuzzy gain scheduling control algorithm for formation flight of multi-UAVs
2019-06-01
1887941 byte
Conference paper
Electronic Resource
English
Flight Formation Control Strategies for Mini UAVs
Wiley | 2012
|Flight Formation of Multiple UAVs
Springer Verlag | 2011
|A Design of ALFLEX Flight Control System Using Fuzzy Gain-Scheduling
British Library Conference Proceedings | 1998
|