Virtual Leader-Follower Formation Control of Multi Quadrotors by using Feedback Linearization Controller

Todays by progressing of technology and the automation of various devices, multi-agent systems are highly regarded by researchers. One of the tasks of multi-agent systems is coordinate and cooperative movement of a group of agents. This paper is focused on distributed formation control of four quadrotors to make a coordination framework. First, nonlinear equations of motion of a quadrotor turns into double-integrator equation by using feedback linearization control. After that, formation control second-order protocol of each agent is presented to quadrotors have a coordination movement in three attitude angles and three degrees of freedom of velocities. Virtual structural and leader-follower protocol is used to present a distributed formation control protocol. Dynamic equations of each quadrotors and the proposed control algorithm is simulated on MATLAB.

[1]  Jianqiao Yu,et al.  Path Planning for Multi-UAV Formation , 2015, J. Intell. Robotic Syst..

[2]  M. J. Mahjoob,et al.  Controlling of Quadrotor UAV Using a Fuzzy System for Tuning the PID Gains in Hovering Mode , 2013 .

[3]  Yisheng Zhong,et al.  Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications , 2015, IEEE Transactions on Control Systems Technology.

[4]  Ali Shafiekhani,et al.  Attitude control using an extended calssifier system algorithm for offline auto-tuning of a PID controller , 2014, 2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM).

[5]  Jindong Tan,et al.  A novel laparoscopic camera robot with in-vivo lens cleaning and debris prevention modules , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[6]  Zhang Ren,et al.  Time-Varying Formation Tracking for Second-Order Multi-Agent Systems Subjected to Switching Topologies With Application to Quadrotor Formation Flying , 2017, IEEE Transactions on Industrial Electronics.

[7]  Qing-Long Han,et al.  Distributed Formation Control of Networked Multi-Agent Systems Using a Dynamic Event-Triggered Communication Mechanism , 2017, IEEE Transactions on Industrial Electronics.

[8]  Alexander L. Fradkov,et al.  Synchronization in networks of linear agents with output feedbacks , 2011 .

[9]  Holger Voos,et al.  Nonlinear control of a quadrotor micro-UAV using feedback-linearization , 2009, 2009 IEEE International Conference on Mechatronics.

[10]  Wei Chen,et al.  Design of UAV Close Formation Controller Based on Sliding Mode Variable Structure , 2015, ITITS.

[11]  Yacine Challal,et al.  Quadrotors Formation Control , 2013, J. Intell. Robotic Syst..

[12]  Toru Namerikawa,et al.  Consensus-based cooperative formation control with collision avoidance for a multi-UAV system , 2014, 2014 American Control Conference.

[13]  Rogelio Lozano,et al.  Flight Formation Control , 2012 .

[14]  Jindong Tan,et al.  Modeling and analysis of a laparoscopic camera's interaction with abdomen tissue , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[15]  Jonathan Robert Tapani Lawton.  A behavior-based approach to multiple spacecraft formation flying , 2000 .

[16]  F.Y. Hadaegh,et al.  A survey of spacecraft formation flying guidance and control. Part II: control , 2004, Proceedings of the 2004 American Control Conference.

[17]  Youmin Zhang,et al.  Formation control of multiple quadrotors based on leader-follower method , 2015, 2015 International Conference on Unmanned Aircraft Systems (ICUAS).

[18]  Abhijit Das,et al.  Cooperative Control of Multi-Agent Systems , 2014 .

[19]  Tong Heng Lee,et al.  Design and implementation of a leader-follower cooperative control system for unmanned helicopters , 2010 .

[20]  Falin Wu,et al.  Leader-Follower Formation Control for Quadrotors , 2017 .

[21]  Oyas Wahyunggoro,et al.  Path planning of decentralized multi-quadrotor based on fuzzy-cell decomposition algorithm , 2017 .

[22]  Stanislav I. Tomashevich,et al.  Control for a system of linear agents based on a high order adaptation algorithm , 2017, Autom. Remote. Control..