Quadrotors UAVs Swarming Control Under Leader-Followers Formation

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Authors

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

Details

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
Publication type

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.