Mini Rotorcraft Flight Formation Control Using Bounded Inputs

被引：28
|
作者：
Guerrero, Jose Alfredo [1 ]
Castillo, Pedro [1 ]
Salazar, Sergio [2 ]
Lozano, Rogelio [1 ]
机构：
[1] Univ Technol Compiegne, Heudiasyc UMR CNRS 6599, F-60206 Compiegne, France
[2] LAFMIA UMI CNRS 3175, Mexico City, DF, Mexico
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2012年 / 65卷 / 1-4期
关键词：
Flight formation; Coordination control; Quadrotor; STABILIZATION; SYSTEMS;
D O I：
10.1007/s10846-011-9575-3
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, the flight formation control and trajectory tracking control design of multiple mini rotorcraft systems are discussed. The dynamic model of a mini rotorcraft is presented using the Newton-Euler formalism. Our approach is based on a leader/follower structure of multiple robot systems. The centroid of the coordinated control subsystem is used for trajectory tracking purposes. A nonlinear controller based on separated saturations and a multi-agent consensus algorithm is developed. The analytic results are supported by simulation tests. Experimental results include yaw coordination and tracking only.
引用
收藏
页码：175 / 186
页数：12
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