Unmanned Aerial Vehicles (UAVs) swarming has took an important part of the recent researches. Multiple robots offer many advantages when comparing to a single one such as reliability, time decreasing and multiple simultaneous interventions. This paper proposes a new scheme for trajectory tracking of multiple quadrotors UAVs under a centralized leader-followers formation strategy. Attitude stability and position control are assured using a double loop control structure based on the Linear Quadratic Regulator (LQR), moreover the leader-followers formation is maintained via a Sliding Mode Controller (SMC) controller. Many scenarios are proposed within this work. Simulation results proof the energy optimization and formation controller's robustness and accuracy.
|Title of host publication||2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)|
|Publication status||Published - 22 Nov 2018|
|Event||2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) - Sinaia|
Duration: 10 Oct 2018 → 12 Oct 2018
|Conference||2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)|
|Period||10/10/18 → 12/10/18|