A Guidance and Control Law for Autonomous Formation of Quadrotors

Xun Zhu, Shuguang Zhang

2018

Abstract

Formation flying means two or more flight vehicles maintain an organizational flight mode. In autonomous formation, the guidance is normally divided into formation configuration and task assignment. This paper is focused on the formation configuration of quadrotors from their initial random positions to an expected configuration in response of the leader quadrotor. Based on the position and velocity of the leader, the formation controller will generate the guidance and control instructions from the relative dynamic system. The updated positions of the followers are compared with the expected positions and furtherly processed by PI controllers to form speed instructions for the followers, and feedforward controllers are included to shape commands to provide better tracking performance. Simulations with five quadrotors result show that the designed guidance and control algorithm can help quickly achieve and keep the desired formation configuration even to follow complex motions of the leader quadrotor.

Paper Citation

in Harvard Style

Zhu X. and Zhang S. (2018). A Guidance and Control Law for Autonomous Formation of Quadrotors.In 3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT, ISBN 978-989-758-312-4, pages 204-209. DOI: 10.5220/0006967802040209

in Bibtex Style

@conference{icectt18,
author={Xun Zhu and Shuguang Zhang},
title={A Guidance and Control Law for Autonomous Formation of Quadrotors},
booktitle={3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT,},
year={2018},
pages={204-209},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006967802040209},
isbn={978-989-758-312-4},
}

in EndNote Style

TY - CONF

JO - 3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT,
TI - A Guidance and Control Law for Autonomous Formation of Quadrotors
SN - 978-989-758-312-4
AU - Zhu X.
AU - Zhang S.
PY - 2018
SP - 204
EP - 209
DO - 10.5220/0006967802040209