Quadrotor Flight Formation Control Via Positive Realness Multivehicle Systems
Résumé
In this paper, we present a quadrotor formation control, whose simplified dynamics is represented by integrators in cascade. A system transformation is presented that reduces the input-output behavior of a chain of integrators into a single integrator. Therefore the standard coordination control algorithms can be directly applied. A second strategy is proposed consisting in transforming the chain of integrators into an SPR system and then an algorithm is proposed for the formation control of SPR systems. The proposed algorithm is illustrated in simulation.