Formation Control Strategy for a Group of Quadrotors
文献类型：会议论文
| 作者 | Shulin Liu; Can Wang; Guoyuan Liang; Haoyao Chen; Xinyu Wu |
| 出版日期 | 2015 |
| 会议名称 | IEEE International Conference on Information and Automation |
| 会议地点 | Lijiang |
| 英文摘要 | In this paper, it presents a control strategy to trajectory tracking of multiple quadrotors while maintaining the desired formation. From the mathematical model of quadrotor, we can get that the controls of quadrotor in height and yaw direction are independent. Therefore, we can adopt different control strategies for the horizontal and height direction. We present a synchronization approach to trajectory tracking of multiple quadrotors in the horizontal direction and a linear PD controller to maintain quadrotors at a constant height, and the synchronization control strategy is the key. The formation error is measured by the position error and synchronization error, which is defined based on the established quadrotors network. A synchronous controller for each quadrotor to guarantee that both position and synchronization errors in X-Y plane approach zero asymptotically is presented in the following. Finally, we perform simulations to demonstrate the stability, flexibility and good performance in fault tolerance of the proposed control approach in the formation control tasks. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/6772]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2015 |
| 推荐引用方式 GB/T 7714 | Shulin Liu,Can Wang,Guoyuan Liang,et al. Formation Control Strategy for a Group of Quadrotors[C]. 见:IEEE International Conference on Information and Automation. Lijiang. |
入库方式： OAI收割
来源：深圳先进技术研究院
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