Circular Leader-Follower Formation Control of Quad-Rotor Aerial Vehicles

Abas, Mohammad Fadhil; Pebrianti, Dwi; Azrad, Syaril; Iwakura, Daisuke; Song, Yanzhi; Nonami, Kenzo; Fujiwara, Daigo

doi:10.20965/jrm.2013.p0060

Cited by 18 publications

(10 citation statements)

References 12 publications

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“…In this section, we briefly explain the trajectory control of followers UAV.As mentioned above, the reference position trajectories are generated using Equation (18), and governed by the formation controller of Equations ( 57) and (58). Thus, by defining the attitude, altitude and position errors for the followers UAV, the rest of the analysis used for the derivation of the subject controllers is the same as leader UAV.…”

Section: Followers Uav Control Formulationmentioning

confidence: 99%

Adaptive Robust Trajectory Tracking Control of Multiple Quad-Rotor UAVs with Parametric Uncertainties and Disturbances

Mehmood¹,

Aslam²,

Ullah

et al. 2021

Sensors

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Recently, formation flying of multiple unmanned aerial vehicles (UAVs) found numerous applications in various areas such as surveillance, industrial automation and disaster management. The accuracy and reliability for performing group tasks by multiple UAVs is highly dependent on the applied control strategy. The formation and trajectories of multiple UAVs are governed by two separate controllers, namely formation and trajectory tracking controllers respectively. In presence of environmental effects, disturbances due to wind and parametric uncertainties, the controller design process is a challenging task. This article proposes a robust adaptive formation and trajectory tacking control of multiple quad-rotor UAVs using super twisting sliding mode control method. In the proposed design, Lyapunov function-based adaptive disturbance estimators are used to compensate for the effects of external disturbances and parametric uncertainties. The stability of the proposed controllers is guaranteed using Lyapunov theorems. Two variants of the control schemes, namely fixed gain super twisting SMC (STSMC) and adaptive super twisting SMC (ASTSMC) are tested using numerical simulations performed in MATLAB/Simulink. From the results presented, it is verified that in presence of disturbances, the proposed ASTSMC controller exhibits enhanced robustness as compared to the fixed gain STSMC.

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Section: Followers Uav Control Formulationmentioning

confidence: 99%

Adaptive Robust Trajectory Tracking Control of Multiple Quad-Rotor UAVs with Parametric Uncertainties and Disturbances

Mehmood¹,

Aslam²,

Ullah

et al. 2021

Sensors

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“…Expression (17) implies that the error 2 i can be simply taken to be the tracking error e i , that is, 2 i ¼ e i . Then, we have…”

Section: Robust Adaptive Formation Controllermentioning

confidence: 99%

Robust adaptive formation control of quadcopters based on a leader–follower approach

Xuan-Mung

Hong

2019

International Journal of Advanced Robotic Systems

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The formation control problem for multi-agent systems has been explored in recent years. However, controlling a formation of multiple aerial vehicles in the presence of disturbances has been a challenge for control researchers. To deal with this issue, a robust adaptive formation control algorithm for a group of multiple quadcopters is proposed. A nonlinear model of the dynamics of the formation error is obtained based on a leader-follower scheme. This model considers both the relative position in the x-y plane and the relative heading angle between vehicles in the presence of uncertainties. In addition, by means of a model reference control approach, a robust adaptive formation controller is used to steer the vehicles into a formation pattern and have them maintain the formation shape. Numerical simulations demonstrate the effectiveness of the algorithm.

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“…The interest in the control of multiple autonomous aerial robots (drones) working in a collaborative group, known as 'swarm, ' has been increasing within the last decade. The trend is due to the potential applications in various fields, either for civilian or military purposes, and either for outdoor and indoor applications [1,2,8,13,15].…”

Section: Introductionmentioning

confidence: 99%

“…The example of such researches includes the comparison between the PID and the Sliding Mode strategies to control the circular F-L flights in a confined space [1]. This study utilized high definition cameras to capture the drone's coordinates and angles.…”

Section: Introductionmentioning

confidence: 99%

Leader–follower formation control of two quadrotor UAVs

et al. 2019

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This paper reports the design and implementation of a leader-follower (L-F) formation control of two Parrot AR Drone 2.0 quadrotor UAVs (drones). In order to implement such control, three control elements were developed. These were the flight-dynamic characteristics, the position tracking and L-F formation control, and the data communication system between drones and ground-control station. The dynamic characteristics were identified as the first-order process with time delay models, which were asymmetrical to x − , x + , x − and x + directions. Accordingly, dedicated Proportional-Derivative (PD) controllers were designed for the respective models. A Pole-Placement strategy was applied to design the PD controllers in order to achieve a non-oscillatory position tracking. These controllers were combined with five operating modes to form an F-L formation control. The controls were implemented on two-drones and one-ground-control station. The ground-control station dictated a prescribed path for the leader drone. Subsequently, the leader position became follower set-point. During the implementation test, these drones completed their L-F formation. The follower drone tracked the y-axis coordinate of the leader's drone and maintained a safe distance to the respective x-axis coordinate. The accuracy of the controls was measured in terms of the root mean squares errors, and these were within 50-115 cm.

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Circular Leader-Follower Formation Control of Quad-Rotor Aerial Vehicles

Cited by 18 publications

References 12 publications

Adaptive Robust Trajectory Tracking Control of Multiple Quad-Rotor UAVs with Parametric Uncertainties and Disturbances

Adaptive Robust Trajectory Tracking Control of Multiple Quad-Rotor UAVs with Parametric Uncertainties and Disturbances

Robust adaptive formation control of quadcopters based on a leader–follower approach

Leader–follower formation control of two quadrotor UAVs

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