Formation Control of Quadrotor UAVs without Linear Velocity Measurements
Refereed conference paper presented and published in conference proceedings


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AbstractThe problem of formation control of a group of quadrotors without linear velocity measurements is addressed in this paper. A distributed controller is developed directly on the orthogonal group SE(3) to avoid the singularities associated with Euler-angles and the ambiguity of quaternions. The control design procedure can be divided into two main steps. First, an intermediary control input is designed to achieve the formation objective, where some auxiliary systems are introduced to obviate the need for linear-velocity measurements. After decoding the intermediary control input into the trust force and reference angular velocity, then the torque input for each quadrotor is designed to drive the actual angular velocity to the desired ones. The asymptotic stability analysis is presented with Lyapunov-like tools. Simulation results on three quadrotors show the effectiveness of the proposed strategy.
All Author(s) ListMiao ZQ, Liu YH, Wang YN, Fierro R
Name of Conference18th International Conference on Advanced Robotics (ICAR)
Start Date of Conference10/07/2017
End Date of Conference12/07/2017
Place of ConferenceHong Kong
Country/Region of ConferenceHong Kong
Proceedings Title2017 18th International Conference on Advanced Robotics (ICAR)
Title of Publication2017 18TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR)
Year2017
PublisherIEEE
Pages179 - 184
ISBN978-1-5386-3157-7
LanguagesEnglish-United Kingdom
Keywordsformation control, quadrotor UAVs, without velocity measurements, distributed control
Web of Science Subject CategoriesEngineering, Electrical & Electronic;Robotics;Engineering;Robotics

Last updated on 2020-29-07 at 01:02