Decentralized Formation Control for Multiple Quadrotors under Unidirectional Communication Constraints
نویسندگان
چکیده
منابع مشابه
Improved Leader Follower Formation Control for Multiple Quadrotors Based AFSA
In this paper, formation tracking in plane with equal height for all quadrotors is discussed. Two controllers are necessary. First, PID controller is used to ensure the tracking of the desired trajectory by the first quadrotor named leader. The formation of the quadrotors in plane is achieved by using the directed lyapunov controller. In order to improve the controller performances, the artific...
متن کاملDecentralized Motion Control of Multiple Holonomic Agents under Input Constraints
The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation with input constraints. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system,...
متن کاملCooperative Control of Multiple Quadrotors for Transporting a Common Payload
This paper investigates the problem of controlling a team of Quadrotors that cooperatively transport a common payload. The main contribution of this study is to propose a cooperative control algorithm based on a decentralized algorithm. This strategy is comprised of two main steps: the first one is calculating the basic control vectors for each Quadrotor using Moore–Penrose theory aiming at coo...
متن کاملLeader-Follower Formation Control for Quadrotors
Quadrotors are gaining an increasing interest in public and extensively explored in recent years. In many situations, a team of quadrotors is desired to operate in a certain shape, which is also called formation. In this paper, a linear PID controller is used to control each single quadrotor and a slide mode controller is adopted to solve the formation flying problem which employs the leader-fo...
متن کاملPerformance Analysis of Decentralized Kalman Filters under Communication Constraints
In target tracking, multi-sensor systems are becoming more and more popular [14]. The advantages especially for physically distributed sensors are obvious: multiple viewing angles, different strong points of different sensors, and a higher robustness due to the inherent redundancy. On the other hand, some kind of fusion is necessary to integrate the data from the different sensors and to extrac...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2020
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2020.12.1060