Leader-following control of a UAV-UGV formation
Alexandre Santos Brandao, Mário Sarcinelli-Filho, Ricardo Carelli · 2013
In this work a nonlinear controller capable to guide a leader-follower formation involving a UAV and a UGV in the accomplishment of positioning and trajectory tracking missions is presented. A centralized structure is implemented to share information about the current pose of the vehicles and to determine the relative position between them. The asymptotic stability of the closed-loop system is demonstrated, and experimental results are presented and discussed, validating the controller.