Rojo Rodriguez, Erik Gilberto (Universidad Autonoma de Nuevo Leon), Ollervides Vazquez, Edmundo Javier (CIIIA-FIME-UANL; TecNM-Instituto Tecnologico de la Laguna), Zambrano-Robledo, Patricia (CIIIA-FIME-UANL), Garcia Salazar, Octavio (CIIIA-FIME-UANL)

A Fuzzy Gain Scheduling Control Algorithm for Formation Flight of Multi-UAVs

Scheduled for presentation during the Regular Session "Micro- and Mini- UAS" (ThA3), Thursday, June 13, 2019, 11:20−11:40, Heritage A

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

This paper presents a consensus-based coordination protocol, using a fuzzy logic gain scheduling algorithm, for the formation flight of multiple quadrotors UAVs. The Newton-Euler approach is used to present the equations of motions for the multiple quadrotors UAVs. The formation flight consists of a distributed approach. Real-time experiments are presented in order to test the capabilities of the online tuning of consensus parameters, as well as a comparison with a fixed gain protocol. In effect, the variable gain consensus protocol shows a smoother output while maintaining a robust performance against induced wind gusts, in comparison with fixed gain coordination approach.