Mini Rotorcraft Flight Formation Control using Bounded Inputs - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Journal of Intelligent and Robotic Systems Année : 2012

Mini Rotorcraft Flight Formation Control using Bounded Inputs

Résumé

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.

Domaines

Automatique

Dates et versions

hal-00937424 , version 1 (28-01-2014)

Identifiants

Citer

J. A. Guerrero, P. Castillo, S. Salazar, R. Lozano. Mini Rotorcraft Flight Formation Control using Bounded Inputs. Journal of Intelligent and Robotic Systems, 2012, 65 (1-4), pp.175-186. ⟨10.1007/s10846-011-9575-3⟩. ⟨hal-00937424⟩
97 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Mastodon Facebook X LinkedIn More