<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In this paper, the formation control problem of quadrotor is studied under ideal communication condition. The quadrotor has a complex mathematical model. First, the unit quaternion method is used to describe its dynamic model and kinematic model. It is decomposed into two independent subsystems of position and attitude. The tracking error model is established by introducing the error between the ture trajectory and the desired trajectory. And then appointing a member of formation as a pilot, formation members get the geometric center position as the desired trajectory through the consistency algorithm. The back-stepping method is used to design the time-varying feedback control law for each four-rotor, so that the formation is stabilized. Finally, the effectiveness of the control method is verified by simulation experiments.</p></abstract>

In this paper, the formation control problem of quadrotor is studied under ideal communication condition. The quadrotor has a complex mathematical model. First, the unit quaternion method is used to describe its dynamic model and kinematic model. It is decomposed into two independent subsystems of position and attitude. The tracking error model is established by introducing the error between the ture trajectory and the desired trajectory. And then appointing a member of formation as a pilot, formation members get the geometric center position as the desired trajectory through the consistency algorithm. The back-stepping method is used to design the time-varying feedback control law for each four-rotor, so that the formation is stabilized. Finally, the effectiveness of the control method is verified by simulation experiments.

Quadrotor Formation Inversion Control Method Based on Unit Quaternion

International Journal of Advanced Network, Monitoring and Controls

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Quadrotor Formation Inversion Control Method Based on Unit Quaternion"}

In this paper, the formation control problem of quadrotor is studied under ideal communication condition. The quadrotor has a complex mathematical model....

Quadrotor Formation Inversion Control Method Based on Unit Quaternion

Data publikacji: 07 maj 2018

Zakres stron: 27 - 34

DOI: https://doi.org/10.21307/ijanmc-2018-006

© Wang Zhongsheng 2018 et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Figure 1.

Figure 2.

Figure 3.

Figure 4.

Figure 5.

Figure 6.