Distributed Formation Control of Quadrotor UAVs Based on Rotation Matrices without Linear Velocity Feedback

2021 ◽  
Vol 19 (10) ◽  
pp. 3464-3474
Author(s):  
Yanjie Chen ◽  
Jiacheng Liang ◽  
Zhiqiang Miao ◽  
Yaonan Wang
Keyword(s):  
Formation Control ◽  
Linear Velocity ◽  
Velocity Feedback ◽  
Rotation Matrices ◽  
Quadrotor Uavs ◽  
Linear Velocity Feedback

Adaptive Finite-Time Event-Triggered Formation Control for Quadrotor UAVs with Experimentation

2021 ◽  
pp. 4983-4993
Author(s):  
Jianan Wang ◽  
Qingbiao Kuang ◽  
Dandan Wang ◽  
Chunyan Wang ◽  
Jiayuan Shan
Keyword(s):  
Finite Time ◽  
Formation Control ◽  
Quadrotor Uavs ◽  
Event Triggered

scholarly journals Leader–follower formation control of two quadrotor UAVs

2019 ◽  
Vol 1 (6) ◽  
Author(s):  
Rifqi Rafifandi ◽  
Dea Lana Asri ◽  
Estiyanti Ekawati ◽  
Eko Mursito Budi
Keyword(s):  
Formation Control ◽  
Quadrotor Uavs

Velocity-free distributed geometric formation control for underactuated UAVs

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yanjie Chen ◽  
Weiwei Zhan ◽  
Yibin Huang ◽  
Zhiqiang Miao ◽  
Yaonan Wang
Keyword(s):  
Attitude Control ◽  
Formation Control ◽  
Control Method ◽  
Controller Design ◽  
Linear Velocity ◽  
Nonlinear Controller ◽  
Content Type ◽  
Distributed Controller ◽  
Cascade Structure ◽  
The Stability

Purpose This paper aims to investigate the distributed formation control problem for a multi-quadrotor unmanned aerial vehicle system without linear velocity feedbacks. Design/methodology/approach A nonlinear controller is proposed based on the orthogonal group SE(3) to obviate singularities and ambiguities of the traditional parameterized attitude representations. A cascade structure is applied in the distributed controller design. The inner loop is responsible for attitude control, and the outer loop is responsible for translational dynamics. To ensure a linear-velocity-free characteristic, some auxiliary variables are introduced to construct virtual signals in distributed controller design. The stability analysis of the proposed distributed control method by the Lyapunov function is provided as well. Findings A group of four quadrotors with constant reference linear velocity and a group of six quadrotors with varying reference linear velocity are adopted to verify the effectiveness of the proposed strategy. Originality/value This is a new innovation for multi-robot formation control method to improve assembly automation.

Formation Control of Quadrotor UAVs by Vision-Based Positioning

2015 ◽  
Vol 798 ◽  
pp. 282-286
Author(s):  
Wooh Yun Kim ◽  
Ji Wook Kwon ◽  
Ji Won Seo
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Ground Truth ◽  
Calibration Method ◽  
Dynamics Model ◽  
The Third ◽  
Position Data ◽  
Quadrotor Uavs ◽  
Quadrotor Unmanned Aerial Vehicles ◽  
Visual Marker

In this paper, a formation control method of quadrotor Unmanned Aerial Vehicles (UAVs) by vision-based positioning is presented. The relative positions and attitudes of two UAVs with respect to a visual marker attached to the third UAV is estimated by a camera calibration method. Based on the estimated positions and attitudes, two UAVs are controlled to the desired positions to form a given formation with respect to the third UAV. A simplified dynamics model of a quadrotor UAV is utilized to design a controller. The proposed formation control method is validated by an experiment with a motion capture system which provides the ground truth of the position data.

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