Quadrotor Formation Inversion Control Method Based on Unit Quaternion

DOI

10.2991/icsnce-18.2018.11How to use a DOI?

Keywords

Formation Control; Quadrotor; Quaternion; Inversion Method; Leader-follower Method

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 backstepping 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.

Copyright

© 2018, 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  - Wang Zhongsheng
AU  - Yang Sen
AU  - Dong Dong Hairui
PY  - 2018/04
DA  - 2018/04
TI  - Quadrotor Formation Inversion Control Method Based on Unit Quaternion
BT  - Proceedings of the 2018 Second International Conference of Sensor Network and Computer Engineering (ICSNCE 2018)
PB  - Atlantis Press
SP  - 47
EP  - 54
SN  - 2352-538X
UR  - https://doi.org/10.2991/icsnce-18.2018.11
DO  - 10.2991/icsnce-18.2018.11
ID  - Zhongsheng2018/04
ER  -