This paper investigates the cooperative control of quadrotor formation. A state space predictive control strategy is proposed for the leader-following quadrotor cooperative flight. Specifically, based on the state predictive control method, a tracking controller is firstly designed for quadrotor leader to achieve the stable trajectory tracking. Secondly, a distributed state space predictive formation control law is established for quadrotor followers to keep the desired relative position with respect to the quadrotor leader. The proposed control scheme guarantees the overall stability of quadrotors cooperative control. Experiment results are provided, which verify the effectiveness of proposed control scheme.
State Space Predictive Control for Quadrotors Cooperative Flight
2023-05-19
1044104 byte
Conference paper
Electronic Resource
English
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