Wu, Falin (Beihang University), He, Jiaqi (Beihang University), Zhou, Guopeng (Beihang University), Li, Haolun (Beihang University), Liu, Yushuang (Beijing System Design Institute of Electro-mechanic Engineering)

Performance of Sliding Mode and Consensus-Based Control Approaches for Quadrotor Leader-Follower Formation Flight

Scheduled for presentation during the Poster Session "Poster Papers Session" (FrPS), Friday, June 18, 2021, 11:15−11:30, Foyer, Mezzanine Level

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

Quadrotors are making a difference to numerous civilian and military applications. There are various approaches to realize formation flight control. In this paper, a comparison between sliding mode and second-order consensus approaches for quadrotor leader-follower formation flight was conducted. Sliding mode and second-order consensus algorithms were employed to design the formation controller for steady formation flight. Both leader and the follower quadrotors are controlled by proportional integral derivative controllers. The leader follows the desired trajectory while the followers follow the instruction calculated by the formation controller. Simulations are carried out to analyze the effect of these two approaches. The result indicates that the followers can follow the leader’s trajectory and keep the formation fairy well under the control of both approaches. However, the sliding mode approach can achieve faster position convergence effect, while the secondorder consistency approach has better disturbance suppression performance in case of disturbance.