Time-varying formation control of multiple quad-rotors based on ellipsoid. (27th April 2021)

• Record Type: Journal Article
• Authors: Cao, Kecai; Xu, Debao
• Is Part Of: International journal of advanced robotic systems. Volume 18:Number 2(2021)
• Publication Date: 2021-04-27
• Subjects: Multiple quad-rotors -- time-varying formation -- synchronization method -- sliding mode control; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/17298814211010977
• Languages: English
• ISSNs: 1729-8806

Abstract

Time-varying formation control problem for a group of multiple quad-rotors has been considered in this article with the help of ellipsoid. Firstly, an elliptic equation with time-varying parameters has been firstly introduced to describe the desired formation patterns for multiple quad-rotors in three-dimensional space. Then position controller and attitude controller are constructed using the method of sliding model control, respectively. Through tuning parameters of the elliptic equation, time-varying formation control of multiple quad-rotors has been realized using the controllers proposed in this article where smoothing transition between rigid formations has been guaranteed. Simulation results for formation control of quad-rotors that perform translation, scaling, and rotating actions have illustrated effectiveness of the time-varying formation controller that proposed in this article.