Paper Info
Title
Low Level Formation Controls For A Group Of Quadrotors With Model Uncertainties
Abstract
The article proposes low-level control schemes for a group of quadrotors with highly nonlinear uncertain models in formation flights. The paper suggests control strategies for formation flights in a 3D space. The concepts of flat system and virtual formation play important roles in the current approach. We assume that accurate information needed to control a quadrotor in formation flights is available to the control system. Despite of system uncertainties the control law ensures that the error of the attitude subsystem relative to a required reference attitude converges exponentially to zero. Regarding the translational uncertain subsystem the solutions of the associated error dynamics are ultimately bounded and the ultimate boundedness of the error between the actual trajectory and the desired one in the flying formation can be guaranteed. The control scheme allows formation splitting and merging and formation switching in flight. Simulation results and discussions conclude the paper.
Year
DOI
Venue
2020
10.1080/00207179.2018.1515500
INTERNATIONAL JOURNAL OF CONTROL
Keywords
DocType
Volume
Quadrotor helicopter, model uncertainties, virtual formation, string-like formation, rigid formation, formation flight in 3D
Journal
93
Issue
ISSN
Citations 
7
0020-7179
0
PageRank 
References 
Authors
0.34
10
2
Name
Order
Citations
PageRank
Shai A. Arogeti17512.72
Amit Ailon29115.23