Leader-Follower Formation Control for Quadrotors

Falin Wu; Jiemin Chen; Yuan Liang

doi:10.1088/1757-899X/187/1/012016

Leader-Follower Formation Control for Quadrotors

Falin Wu
, Jiemin Chen
, Yuan Liang

仪器科学与光电工程学院

Beihang University

科研成果: 期刊稿件 › 会议文章 › 同行评审

30 引用（Scopus）

摘要

Quadrotors are gaining an increasing interest in public and extensively explored in recent years. In many situations, a team of quadrotors is desired to operate in a certain shape, which is also called formation. In this paper, a linear PID controller is used to control each single quadrotor and a slide mode controller is adopted to solve the formation flying problem which employs the leader-follower structure. The formation simulations are run in the Matlab/Simulink environment to evaluate the performance of control laws.

源语言	英语
文章编号	012016
期刊	IOP Conference Series: Materials Science and Engineering
卷	187
期	1
DOI	https://doi.org/10.1088/1757-899X/187/1/012016
出版状态	已出版 - 23 3月 2017
活动	2016 2nd International Conference on Mechanical and Aeronautical Engineering, ICMAE 2016 - Hong Kong, 香港特别行政区期限: 28 12月 2016 → 30 12月 2016

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AU - Chen, Jiemin

AU - Liang, Yuan

N1 - Publisher Copyright: © Published under licence by IOP Publishing Ltd.

PY - 2017/3/23

Y1 - 2017/3/23

N2 - Quadrotors are gaining an increasing interest in public and extensively explored in recent years. In many situations, a team of quadrotors is desired to operate in a certain shape, which is also called formation. In this paper, a linear PID controller is used to control each single quadrotor and a slide mode controller is adopted to solve the formation flying problem which employs the leader-follower structure. The formation simulations are run in the Matlab/Simulink environment to evaluate the performance of control laws.

AB - Quadrotors are gaining an increasing interest in public and extensively explored in recent years. In many situations, a team of quadrotors is desired to operate in a certain shape, which is also called formation. In this paper, a linear PID controller is used to control each single quadrotor and a slide mode controller is adopted to solve the formation flying problem which employs the leader-follower structure. The formation simulations are run in the Matlab/Simulink environment to evaluate the performance of control laws.

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DO - 10.1088/1757-899X/187/1/012016

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VL - 187

JO - IOP Conference Series: Materials Science and Engineering

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T2 - 2016 2nd International Conference on Mechanical and Aeronautical Engineering, ICMAE 2016

Y2 - 28 December 2016 through 30 December 2016

ER -

Leader-Follower Formation Control for Quadrotors

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