A Leader-Follower Trajectory Tracking Controller for Multi-Quadrotor Formation Flight
TL;DR: In this paper , a leader-follower methodology is implemented where the leader vehicle has some predefined trajectory, and the follower vehicles are controlled in order to track the leader while keeping a constant displacement.
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Abstract: The aim of this work is to design a control system based on modern control methods to control flight formations of quadrotor unmanned aerial vehicles. A leader-follower methodology is implemented where the leader vehicle has some predefined trajectory, and the follower vehicles are controlled in order to track the leader while keeping a constant displacement. The formation control system, responsible for the vehicle formation, considers, at first, only the motion at a constant height, and secondly, the three-dimensional motion. In both cases, the nonlinear control laws are derived based on Lyapunov stability theory and the Backstepping method. The control laws are validated in simulation, resorting to a realistic environment and vehicle models.
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TL;DR: In this article, the authors describe a framework for cooperative control of a group of nonholonomic mobile robots that allows them to build complex systems from simple controllers and estimators, and guarantee stability and convergence in a wide range of tasks.
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
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- 18 Apr 2005
TL;DR: The results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor are presented, a backstepping and a sliding-mode techniques.
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
Samir Bouabdallah,Roland Siegwart +1 more
- 01 Jan 2005
TL;DR: In this article, the authors present the results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor, a backstepping and a sliding-mode technique.
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