Formation and Tracking Control of Quadrotors under a Leader-Follower Strategy

	Formation and Tracking Control of Quadrotors under a Leader-Follower Strategy
The Modares Journal of Electrical Engineering
Article 7, Volume 16, Issue 4, 2017, Pages 42-50 PDF (736.02 K)
Document Type: مقالات علمی پژوهشی
Authors
Mohammad Reza Soltanpour^* ; Reza Hooshmand
Abstract
In recent decades, the researchers have been attracted in utilizing of the multi-agent systems due to the sophistication in industrial processes, the cost of performing them and increasing the reliability. One of the interesting problems in this field of study is formation control of agents. In this paper, we are going to design a decentralized control strategy for the formation control of a group of quadrotors. To be more specific, we simplify the nonlinear dynamic of a quadrotor by using motion approximation and feedback linearization. Then, we solve the formation control problem of quadrotors by the utilization of leader-follower strategy with a decentralized protocol. In this control strategy, only do a partial number of followers have access to the leader’s information. This matter can reduce noticeably the energy consumption of the leader since it requires to send less amount of information. Thereafter, we will corroborate the convergence of quadrotors to the predefined formation and leader tracking mathematically. Finally, the simulation example will be presented in order to validate the theoretical results.
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