Leader-Follower Formation Saturated Control for Multiple Quadrotors with Switching Topology

Zhicheng Hou (1, 2) , Isabelle Fantoni (1, 2)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
2 Labex MS2T - Laboratoire d'Excellence "Maîtrise des Systèmes de Systèmes Technologiques"

— This paper presents a distributed saturated formation control for a multiple quadrotors (UAVs) system with leader-follower structure. Each UAV has local and limited neighbors. Stability analysis for the multi-UAV system with fixed and switching topology is given, using the theories of convex hull and perturbed matrix. Simulation results show that the quadrotors with the proposed strategy can achieve consensus in presence of changeable leaders with switching topology. The real-time experiment shows that the quadrotors can track the desired formation trajectory by using the proposed formation strategy.

Domaines: Automatique; Robotique [cs.RO]

Zhicheng Hou, Isabelle Fantoni. Leader-Follower Formation Saturated Control for Multiple Quadrotors with Switching Topology. IEEE Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS 2015), Nov 2015, Cancún, Mexico. pp.8-14. ⟨hal-01264292⟩