Quad-Rotors Formation Control as an Interconnected System^*

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• 作者：Luis Garcí ; a-Delgado ^{dzul@faraday.itlalaguna.edu.mx" class="auth_mail" title="E-mail the corresponding author} ; Alejandro Dzul ; Ví ; ctor Santib&aacute ; ñ ; ez ; Miguel Llama
• 关键词：Quad-rotor's formation ; potential field ; interconnected systems ; collision avoidance
• 刊名：IFAC-PapersOnLine
• 出版年：2011
• 出版时间：January 2011
• 年：2011
• 卷：44
• 期：1
• 页码：13582-13587
• 全文大小：356 K

文摘

This paper proposes a formation control of quad-rotor aircrafts seen as an interconnected system with stability analysis. The formation is realized by considering a constant altitude for the group of aircrafts. The control scheme for the group is based on potential field theory while the stabilizing control law for each rotorcraft is done through nested saturation functions. The stability analysis uses Lyapunov functions while the system is saturated, and when the system is non-saturated, it is analyzed as a Large-scale interconnected linear system in order to compute the formation gain that stabilizes the system. Simulation results emphasize the effectiveness of the proposed control scheme.