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
Full text not available from this repository.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 |
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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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