The paper presents a distributed formation controller to deal with the formation control problems of quadrotor UAVs. A formation controller is developed to maintain the desired pattern among the quadrotor UAVs based on the leader–follower approach. The stability of the quadrotor UAVs is verified through the Lyapunov stability criteria. The proposed distributed formation controller is validated with different shapes of formations e.g., tetrahedron, octahedron, and cube shaped along with the leader quadrotor UAV. The simulation results illustrate that the quadrotor UAVs have successfully achieved and maintained the desired shape of formations. The performance of the proposed distributed formation controller is validated in presence of the external disturbances. The disturbances are incorporated into the system through the control inputs of the follower quadrotor UAVs. The formation controller performs satisfactorily in presence of the external disturbances also. The performance of the proposed formation controller is validated through comparative studies with the existing controllers in the literature. The proposed formation controller performs efficiently over the existing controllers.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Leader–Follower Based Formation Controller Design for Quadrotor UAVs


    Weitere Titelangaben:

    Trans Indian Natl. Acad. Eng.


    Beteiligte:


    Erscheinungsdatum :

    01.03.2022


    Format / Umfang :

    14 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch