Quadrotors UAVs Swarming Control Under Leader-Followers Formation

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

doi:10.1109/ICSTCC.2018.8540747

Quadrotors UAVs Swarming Control Under Leader-Followers Formation

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

Mechanical and Construction Engineering Department

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 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 language	English
Title of host publication	2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)
Publisher	IEEE
Pages	794-799
ISBN (Electronic)	978-1-5386-4444-7
ISBN (Print)	978-1-5386-4445-4
DOIs	https://doi.org/10.1109/ICSTCC.2018.8540747
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

Conference	2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)
Period	10/10/18 → 12/10/18

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10.1109/ICSTCC.2018.8540747

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@inproceedings{e776c9b28e1440d9b6582c65a86ceb60,

title = "Quadrotors UAVs Swarming Control Under Leader-Followers Formation",

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.",

author = "K. Choutri and M. Lagha and L. Dala and M. Lipatov",

year = "2018",

month = nov,

day = "22",

doi = "10.1109/ICSTCC.2018.8540747",

language = "English",

isbn = "978-1-5386-4445-4",

pages = "794--799",

booktitle = "2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)",

publisher = "IEEE",

address = "United States",

note = "2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) ; Conference date: 10-10-2018 Through 12-10-2018",

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TY - GEN

T1 - Quadrotors UAVs Swarming Control Under Leader-Followers Formation

AU - Choutri, K.

AU - Lagha, M.

AU - Dala, L.

AU - Lipatov, M.

PY - 2018/11/22

Y1 - 2018/11/22

N2 - 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.

AB - 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.

U2 - 10.1109/ICSTCC.2018.8540747

DO - 10.1109/ICSTCC.2018.8540747

M3 - Conference contribution

SN - 978-1-5386-4445-4

SP - 794

EP - 799

BT - 2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)

PB - IEEE

T2 - 2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)

Y2 - 10 October 2018 through 12 October 2018

ER -

Quadrotors UAVs Swarming Control Under Leader-Followers Formation

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