SICE Journal of Control, Measurement, and System Integration
Online ISSN : 1884-9970
Print ISSN : 1882-4889
ISSN-L : 1882-4889
CONTRIBUTED PAPERS
Formation Control of UAVs with a Fourth-Order Flight Dynamics
Yasuhiro KURIKIToru NAMERIKAWA
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2014 Volume 7 Issue 2 Pages 74-81

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Abstract

This paper, studies cooperative control problems with a multi-UAV (Unmanned Aerial Vehicle) system expressed as a fourth-order system using a consensus-based algorithm. How to model a linearized model of UAVs like quadrotors as a fourth-order system is described, and then a formation control algorithm for the fourth-order system is proposed after formulating a problem. The proposed control law is based on a consensus algorithm, and a leader-follower structure is also applied to the control law so that the leader can provide the quadrotors with commands such as their desired states. And then, The study shows that the proposed control algorithm can guarantee accurate formation keeping when fundamental assumptions about the network composed of the multiple UAVs are satisfied. Finally, the proposed approach is validated by some simulations.

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© 2014 The Society of Instrument and Control Engineers
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