Name
Abstract | ||
|---|---|---|
This paper addresses the formation control problem for leader-follower multi-quadrotors systems by developing a layered formation control architecture, which has two level. In first level, a coordinating control algorithm is designed to obtain the virtual position and the virtual velocity of every quadrotor such that the virtual formation shape and the virtual velocity consensus can be given in finite time. And in second level, a tracking control algorithm is designed to make the real position and the real velocity track the virtual position and the virtual velocity, respectively. The tracking control algorithm includes position controller and attitude controller. On the basis of the proposed layered formation control architecture, a coordinating control algorithm and a tracking control algorithm is given, which can enable a number of quadrotors reach desired formation shape and volocity consensus. Finally, simulations are carried out to manifest the effectiveness of the proposed control architecture. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/RCAR47638.2019.9044101 | RCAR |
DocType | Citations | PageRank |
Conference | 0 | 0.34 |
References | Authors | |
0 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dawei Shen | 1 | 0 | 0.34 |
| Qiang Lu | 2 | 27 | 3.84 |
| Xiaogao Xie | 3 | 47 | 5.76 |
| Jian Wang | 4 | 0 | 0.68 |
| Hongxia Ni | 5 | 0 | 0.34 |