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.