Flores Palmeros, Pedro (Cinvestav IPN), Castillo, Pedro (Unviersité de Technologie de Compiègne), Castanos, Fernando (Cinvestav del IPN)

Backstepping-Based Controller for Flight Formation

Scheduled for presentation during the Regular Session "Swarms II" (WeB2), Wednesday, June 12, 2019, 15:40−16:00, 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 18, 2024

Abstract

A Backstepping controller based on SE(3) for achieving multi-agents consensus and flight formation of a drones fleet is developed in this paper. The controller is obtained using the nonlinear model of the quadrotor and derived with virtual inputs to converge the fleet to desired references. The stability analysis of the controller is analyzed and proved with the Lyapunov theory. Emulations of the control algorithm are carried out for validating the well performance of the closed-loop system.