ICUAS'22 Paper Abstract

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Paper FrC3.4

Steinleitner, Andreas (University of Stuttgart), Ballam, Robert (Queensland University of Technology), Mcfadyen, Aaron (Queensland University of Technology)

Practical Consensus-Based Formation Control for Quadrotor Systems

Scheduled for presentation during the Regular Session "Multirotor Design and Control III" (FrC3), Friday, June 24, 2022, 16:00−16:20, Divona-1

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Multirotor Design and Control, Swarms, Micro- and Mini- UAS

Abstract

This paper presents a practical discrete-time consensus-based output-feedback formation control algorithm for quadrotors. A dynamic model is derived by approximating the behaviour of real on-board controllers via system identification, before assuming three decoupled systems to model the longitudinal, lateral and yaw motion. Consensus controllers are designed for all subsystems using discrete-time algebraic Riccati equations and parameter uncertainty theorems with observers suggested for systems without full state information. The performance of the proposed control approach is evaluated through a series of simulation studies and its benefits are shown with real experimental results.

 

 

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