Quadrotors UAVs Swarming Control Under Leader-Followers Formation

Choutri, Kheireddine, Lagha, Mohand, Dala, Laurent and Lipatov, Michael (2018) Quadrotors UAVs Swarming Control Under Leader-Followers Formation. In: 2018 22nd International Conference on System Theory, Control and Computing (ICSTCC). IEEE, pp. 794-799. ISBN 978-1-5386-4445-4

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Abstract

Unmanned Aerial Vehicles (UAVs) swarming has took an important part of the recent researches. Multiple robots offer many advantages when comparing to a single one such as reliability, time decreasing and multiple simultaneous interventions. This paper proposes a new scheme for trajectory tracking of multiple quadrotors UAVs under a centralized leader-followers formation strategy. Attitude stability and position control are assured using a double loop control structure based on the Linear Quadratic Regulator (LQR), moreover the leader-followers formation is maintained via a Sliding Mode Controller (SMC) controller. Many scenarios are proposed within this work. Simulation results proof the energy optimization and formation controller's robustness and accuracy.

Item Type:	Book Section
Uncontrolled Keywords:	quadrotors, swarm, formation, LQR, SMC, trajectory tracking, quaternions
Subjects:	H400 Aerospace Engineering
Department:	Faculties > Engineering and Environment > Mechanical and Construction Engineering
Depositing User:	Becky Skoyles
Date Deposited:	13 May 2019 12:22
Last Modified:	10 Oct 2019 19:01
URI:	http://nrl.northumbria.ac.uk/id/eprint/39291

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