Decentralized Control for Scalable Quadcopter Formations
Joint Authors
Source
International Journal of Aerospace Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-08-10
Country of Publication
Egypt
No. of Pages
10
Abstract EN
An innovative framework has been developed for teamwork of two quadcopter formations, each having its specified formation geometry, assigned task, and matching control scheme.
Position control for quadcopters in one of the formations has been implemented through a Linear Quadratic Regulator Proportional Integral (LQR PI) control scheme based on explicit model following scheme.
Quadcopters in the other formation are controlled through LQR PI servomechanism control scheme.
These two control schemes are compared in terms of their performance and control effort.
Both formations are commanded by respective ground stations through virtual leaders.
Quadcopters in formations are able to track desired trajectories as well as hovering at desired points for selected time duration.
In case of communication loss between ground station and any of the quadcopters, the neighboring quadcopter provides the command data, received from the ground station, to the affected unit.
Proposed control schemes have been validated through extensive simulations using MATLAB®/Simulink® that provided favorable results.
American Psychological Association (APA)
Ali, Qasim& Montenegro, Sergio. 2016. Decentralized Control for Scalable Quadcopter Formations. International Journal of Aerospace Engineering،Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1105049
Modern Language Association (MLA)
Ali, Qasim& Montenegro, Sergio. Decentralized Control for Scalable Quadcopter Formations. International Journal of Aerospace Engineering No. 2016 (2016), pp.1-10.
https://search.emarefa.net/detail/BIM-1105049
American Medical Association (AMA)
Ali, Qasim& Montenegro, Sergio. Decentralized Control for Scalable Quadcopter Formations. International Journal of Aerospace Engineering. 2016. Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1105049
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1105049