A leader-following trajectory generator with application to quadrotor formation flight

Roldao, Valter; Cunha, Rita; Cabecinhas, David; Silvestre, Carlos; Oliveira, Paulo

doi:10.1016/j.robot.2014.05.002

Cited by 81 publications

(37 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the past few years, the rapid development of quadrotor unmanned helicopters has generated great interest in the automatic control area [1][2][3][4][5][6]. A quad-rotor has some important characteristics, including hover capability, flexibility, maneuverability, and agility.…”

Section: Introductionmentioning

confidence: 99%

Attitude Tracking Control of A Quad‐Rotor with Partial Loss of Rotation Effectiveness

Zhang

Sun

2017

Asian Journal of Control

View full text Add to dashboard Cite

This paper investigates the attitude control problem of a quad‐rotor unmanned helicopter. In response to adverse factors, including the lumped disturbance, inertia parameter uncertainties, and the partial loss of rotation effectiveness, an adaptive compensation control strategy combining the terminal sliding mode technique and the input shaping method is proposed. Specifically, a group of updating laws using an adaptive mechanism is added to adjust the control strategy in a manner conductive to attitude stability and performance preservation in the presence of adverse factors. The key features of the proposed control strategy are that it is independent from the knowledge of actuator faults, and adaptive compensation control is achieved without the need for online identification of rotor failure. The finite time convergence and stability of the attitude tracking errors are proved by using Lyaponov's method. Finally, the simulation results demonstrate the effectiveness of the proposed control strategy.

show abstract

Section: Introductionmentioning

confidence: 99%

Attitude Tracking Control of A Quad‐Rotor with Partial Loss of Rotation Effectiveness

Zhang

Sun

2017

Asian Journal of Control

View full text Add to dashboard Cite

show abstract

“…By operating multiple quadrotors, tasks that are impossible with a single quadrotor can be performed, and single quadrotor tasks can be performed faster and more efficiently. Therefore, there has been considerable attention on studies focusing on quadrotor formation control [1][2][3][4][5][6][7][8][9][10][11][12][13][14]. There are several quadrotor formation control methodologies including behavior based [1], leader-follower [2][3][4][5][6][7][8], virtual structures [9,10] and graph theory [11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

“…Considering the nonlinear dynamics of a quadrotor, various nonlinear control methods have been proposed. Many researchers applied the backstepping control method to solve the problem of the position control mentioned above [4,8,[18][19][20][21][22][23][24][25][26][27][28]. The position control of a quadrotor using the backstepping method can be roughly classified in two ways.…”

Section: Introductionmentioning

confidence: 99%

Backstepping Based Formation Control of Quadrotors with the State Transformation Technique

2017

View full text Add to dashboard Cite

Abstract:In this paper, a backstepping-based formation control of quadrotors with the state transformation technique is proposed. First, the dynamics of a quadrotor is derived by using the Newton-Euler formulation. Next, a backstepping-based formation control for quadrotors using a state transformation technique is presented. In the position control, which is the basis of formation control, it is possible to derive the reference attitude angles employing a state transformation technique without the small angle assumption or the simplified dynamics usually used. Stability analysis based on the Lyapunov theorem shows that the proposed formation controller can provide a quadrotor formation error system that is asymptotically stabilized. Finally, we verify the performance of the proposed formation control method through comparison simulations.

show abstract

“…In most existing works (e.g, [38], [39] [40], [41]) on formation control of quadrotor aircraft, the leader-follower approach, where the leader is either a actual or a virtual aircraft or a pay-load, has been utilized since as mentioned above this approach is easy to understand and maintain the desired formation. The control design is usually based on the sliding mode, Lyapunov direct and backstepping methods.…”

Section: Introductionmentioning

confidence: 99%

Coordination control of quadrotor VTOL aircraft in three-dimensional space

Duc

2014

International Journal of Control

View full text Add to dashboard Cite

This paper presents a constructive design of distributed coordination controllers for a group of N quadrotor vertical take-off and landing (VTOL) aircraft in three-dimensional space. A combination of Euler angles and unit-quaternion for the attitude representation of the aircraft is used to result in an effective control design, and to reduce singularities in the aircraft's dynamics. The coordination control design is based on a new bounded control design technique for second-order systems and new pairwise collision avoidance functions. The pairwise collision functions are functions of both relative positions and relative velocities between the aircraft instead of only their relative positions as in the literature. To overcome the inherent underactuation of the aircraft, the roll and pitch angles of the aircraft are considered as immediate controls. Simulations illustrate the results.

show abstract

A leader-following trajectory generator with application to quadrotor formation flight

Cited by 81 publications

References 23 publications

Attitude Tracking Control of A Quad‐Rotor with Partial Loss of Rotation Effectiveness

Attitude Tracking Control of A Quad‐Rotor with Partial Loss of Rotation Effectiveness

Backstepping Based Formation Control of Quadrotors with the State Transformation Technique

Coordination control of quadrotor VTOL aircraft in three-dimensional space

Contact Info

Product

Resources

About