Quadrotors UAVs Swarming Control Under Leader-Followers Formation

K. Choutri, M. Lagha, L. Dala, M. Lipatov

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Citations (Scopus)

Abstract

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.
Original languageEnglish
Title of host publication2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)
PublisherIEEE
Pages794-799
ISBN (Electronic)978-1-5386-4444-7
ISBN (Print)978-1-5386-4445-4
DOIs
Publication statusPublished - 22 Nov 2018
Event2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) - Sinaia
Duration: 10 Oct 201812 Oct 2018

Conference

Conference2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)
Period10/10/1812/10/18

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