Leader-Follower Formation Control of Multiple Quadrotors

Iterative learning-based formation control for multiple quadrotor unmanned aerial vehicles

“…Moreover, the effectiveness of the proposed ILC formation controller is verified by comparing with the leader–follower formation control in Zhao and Wang. 28 The leader–follower formation test results are shown in Figures 8 and 9. Table 2 presents the comparison of performance index by leader–follower.…”

On the Design of Outdoor Leader-Follower UAV-Formation Controllers From a Practical Point of View

“…In such a context, in [20] a sliding mode controller guides a group of quadrotors, which are stabilized and controlled by a non-singular fast terminal sliding mode technique. The strategy is numerically validated for a set of five UAVs, navigating longitudinally in a predefined vertical height.…”

“…As for the follower UAV, in the Formation Generator block one should declare the desired structure for the formation, X f d , which is controlled through the Formation Controller block, representing the implementation of ( 18) and (20). The signals at the output of such block are sent to the AR.Drone 2.…”

“…As for the rotational dynamics, Figures 4(c) and 4(d) show the orientations of the two vehicles along the experiment. The values called reference values are those resulting from (14) and (20), which are compared with the sensory data. One should notice that at each change of x d 1 or y d 1 great position errors are introduced, generating a saturation of the actuators of the vehicles.…”