An Improved Formation Control Algorithm in Vicon 3D Motion Capture System

被引：0
|
作者：
Tang, Qiu [1 ]
Cai, Chenxiao [1 ]
Ma, Lei [1 ]
机构：
[1] Nanjing Univ Sci & Technol, Nanjing 210094, Jiangsu, Peoples R China
来源：
PROCEEDINGS OF THE 2016 INTERNATIONAL CONFERENCE ON ENERGY, POWER AND ELECTRICAL ENGINEERING | 2016年 / 56卷
关键词：
quadrotor; PD algorithm; circular formation; sliding mode control; leader-follower; TRACKING;
D O I：
暂无
中图分类号：
TE [石油、天然气工业]; TK [能源与动力工程];
学科分类号：
0807 ; 0820 ;
摘要：
In this paper, an improved leader-follower configuration control algorithm is proposed to solve the formation problem in Vicon 3D motion capture system. Firstly, an appropriate velocity filter with weight is designed and the acceleration gain matrix is reconstructed to reduce noise and oscillations caused by velocity and acceleration computed by discrete position. Secondly, using Sliding Model Control (SMC) for formation, damping parameters are added to the signal of tracking control for each single quadrotor. Thirdly, formation flight with two quadrotors is carried out. Finally, the experiment results show the feasible and effectiveness.
引用
收藏
页码：268 / 273
页数：6
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