Line-of-sight guidance for formation control of quadrotor

Mrudula, A.; Nandagopal, J L

doi:10.1109/iccpct.2017.8074236

Cited by 3 publications

(2 citation statements)

References 11 publications

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“…The main result is presented in the following theorem: Theorem 14. Consider a group of n quadrotors each of which is described by the dynamics (7)- (9). If the set of quadrotors are organized at an initial minimally and infinitesimally rigid configuration, Assumptions 5 and 6 hold, and if the initial conditions for the roll and pitch angles are away from the singularity angles (i.e., π/2), then the decentralized control law and update laws consisting of ( 30), ( 31), (27), and (28) along with the constrained attitude control (55) guarantee achievement of the control objectives ( 13) and (14).…”

Section: Control Law Synthesis: Closed-loop System Stability Analysismentioning

confidence: 99%

“…The coordination of multiple quadrotors to perform cooperative tasks has received considerable attention due to the challenges arising in their control design. Coordinated movement of quadrotors comes with several methodologies and approaches proposed over the last few years [6][7][8][9][10]. From the control structure perspective, the approaches used for coordinated control can be categorized into centralized and decentralized methods.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions

Ghommam

Luque-Vega

Saad

2020

International Journal of Aerospace Engineering

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In this paper, group formation control with collision avoidance is investigated for heterogeneous multiquadrotor vehicles. Specifically, the distance-based formation and tracking control problem are addressed in the framework of leader-follower architecture. In this scheme, the leader is assigned the task of intercepting a target whose velocity is unknown, while the follower quadrotors are arranged to set up a predefined rigid formation pattern, ensuring simultaneously interagent collision avoidance and relative localization. The adopted strategy for the control design consists in decoupling the quadrotor dynamics in a cascaded structure to handle its underactuated property. Furthermore, by imposing constraints on the orientation angles, the follower will never be overturned. Rigorous stability analysis is presented to prove the stability of the entire closed-loop system. Numerical simulation results are presented to validate the proposed control strategy.

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Section: Control Law Synthesis: Closed-loop System Stability Analysismentioning

confidence: 99%