Abstract
In this paper, the flight formation control and trajectory tracking control design of multiple mini rotorcraft systems are discussed. The dynamic model of a mini rotorcraft is presented using the Newton-Euler formalism. Our approach is based on a leader/follower structure of multiple robot systems. The centroid of the coordinated control subsystem is used for trajectory tracking purposes. A nonlinear controller based on separated saturations and a multi-agent consensus algorithm is developed. The analytic results are supported by simulation tests. Experimental results include yaw coordination and tracking only.
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This material is based on work supported by the project SIRENE CARNOT CA10/154 UTC.
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Guerrero, J.A., Castillo, P., Salazar, S. et al. Mini Rotorcraft Flight Formation Control Using Bounded Inputs. J Intell Robot Syst 65, 175–186 (2012). https://doi.org/10.1007/s10846-011-9575-3
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DOI: https://doi.org/10.1007/s10846-011-9575-3