Event-Based Formation Control of Multiple Quadrotors on SO(3)

This paper is concerned with the formation problem of multiple quadrotors, and an event-based control strategy is proposed. The communication topology and relative positions of formation are first considered, and then the model of multiple quadrotors system is developed on the special orthogonal gro...

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Bibliographic Details
Published in:Mathematical problems in engineering 2018-01, Vol.2018 (2018), p.1-11
Main Authors: Ma, Siqian, Wang, Qing, Ma, Mingyu, Dong, Chaoyang
Format: Article
Language:English
Subjects:
Communication
Computer simulation
Controllers
Fault diagnosis
Methods
Protocol
Rotary wing aircraft
Unmanned aerial vehicles
Vehicles
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Summary:This paper is concerned with the formation problem of multiple quadrotors, and an event-based control strategy is proposed. The communication topology and relative positions of formation are first considered, and then the model of multiple quadrotors system is developed on the special orthogonal group SO(3). By designing the trigger function, certain events are generated for each quadrotor. Then, the formation controller is driven to update its parameters according to the events. The attitude controller on SO(3) is designed for tracking of the command and stabilization. By the proposed method continuous communication is not required between quadrotors, and it is proved that the quadrotors could achieve the desired formation. Simulation illustrates that the proposed event-based formation control method is effective.
ISSN:1024-123X
1563-5147
DOI:10.1155/2018/4707219