An Improved Formation Control Algorithm in Vicon 3D Motion Capture System

DOI

10.2991/epee-16.2016.60How to use a DOI?

Keywords

quadrotor; PD algorithm; circular formation; sliding mode control; leader-follower

Abstract

In this paper, an improved leader-follower configu-ration control algorithm is proposed to solve the formation problem in Vicon 3D motion capture system. Firstly, an appropriate velocity filter with weight is designed and the acceleration gain matrix is reconstructed to reduce noise and oscillations caused by velocity and acceleration computed by discrete position. Secondly, using Sliding Model Control (SMC) for formation, damping parameters are added to the signal of tracking control for each single quadrotor. Thirdly, formation flight with two quadrotors is carried out. Finally, the experiment results show the feasible and effectiveness.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Qiu Tang
AU  - Chenxiao Cai
AU  - Lei Ma
PY  - 2016/10
DA  - 2016/10
TI  - An Improved Formation Control Algorithm in Vicon 3D Motion Capture System
BT  - Proceedings of the 2016 International Conference on Energy, Power and Electrical Engineering
PB  - Atlantis Press
SP  - 268
EP  - 273
SN  - 2352-5401
UR  - https://doi.org/10.2991/epee-16.2016.60
DO  - 10.2991/epee-16.2016.60
ID  - Tang2016/10
ER  -