Formation Based on Potential Functions
Lizete Maria Crnkowise Fernandes Garcia, Alejandro Dzul · 2012
This chapter addresses a two-dimensional (2D) formation control, using simple potential functions that generate the desired forces and a nested saturation controller to move the vehicles to their goal positions. The model of the quadrotor aircraft, using the Euler-Lagrange approach are presented in the chapter. The objective consists of achieving a desired formation and, at the same time, to be able to guarantee both collision avoidance with another quadrotor and obstacle avoidance. The potential artificial functions are an effective way to reach formations among vehicles. The chapter shows the computed potential forces with a controller based on nested saturation functions are linked; a stability proof of the closed-loop system. With the stability analysis the conditions to choose the formation gain are obtained. Also repulsive functions that ensure collision and obstacle avoidance are proposed. Controlled Vocabulary Terms aircraft; closed loop systems; collision avoidance; optical saturation