Distributed Control Algorithm for Leader-Follower Formation Tracking of Multiple Quadrotors: Theory and Experiment

This article studies the leader-follower formation tracking problem of multiple quadrotors. In particular, the quadrotors are steered to track a reference trajectory while maintaining a desired configuration. The reference trajectory is partially available to a subset of quadrotors, and each quadrot...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics Vol. 26; no. 2; pp. 1095 - 1105
Main Authors: Wang, Zixuan, Zou, Yao, Liu, Yuzhen, Meng, Ziyang
Format: Journal Article
Language:English
Published: New York IEEE 01.04.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Algorithms
Attitudes
Control algorithms
Control theory
Decentralized control
Distributed control
Force
formation control
IEEE transactions
leader–follower tracking
Network topology
quadrotors
Quaternions
Rotary wing aircraft
Synthesis
Torque
Tracking control
Tracking problem
Trajectory
ISSN:1083-4435, 1941-014X
Online Access:Get full text
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Summary:This article studies the leader-follower formation tracking problem of multiple quadrotors. In particular, the quadrotors are steered to track a reference trajectory while maintaining a desired configuration. The reference trajectory is partially available to a subset of quadrotors, and each quadrotor just interacts locally with its neighbors. A distributed control algorithm is proposed under a hierarchical framework. First, by introducing a distributed saturation control strategy, a command force is synthesized for the position to track the reference trajectory with a desired displacement. Second, a bounded applied force and a nonsingular command attitude are extracted from the synthesized command force based on a proper choice criterion of control parameters. Last but not the least, an applied torque is designed for the attitude to track the command one. In terms of Lyapunov theory, it is shown that the overall closed-loop error system is asymptotically stable. This indicates the accomplishment of the concerned leader-follower formation tracking control objective of multiple quadrotors. Finally, the effectiveness of the proposed distributed control algorithm is verified through both simulations and experiments.
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ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2020.3017816