Distributed safe formation tracking control of multiquadcopter systems using barrier Lyapunov function
Nargess Sadeghzadeh-Nokhodberiz,
Mohammad Reza Sadeghi,
Rohollah Barzamini
et al.
Abstract:Coordinating the movements of a robotic fleet using consensus-based techniques is an important problem in achieving the desired goal of a specific task. Although most available techniques developed for consensus-based control ignore the collision of robots in the transient phase, they are either computationally expensive or cannot be applied in environments with dynamic obstacles. Therefore, we propose a new distributed collision-free formation tracking control scheme for multiquadcopter systems by exploiting … Show more
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