Control and formation flying for the quadrotor UAV
Zhiyong Tang, Longlong He, Zhongcai Pei · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2011
In this paper, control and formation flying for the mini quadrotor UAV are studied. First, the quadrotor UAV is modeled and its simplified mathematical model is given. And then using the traditional PID method in all the designed controller channels, each channel is given in the simulation under different excitation curve. Next the formation problem of the mini quadrotor UAV is analyzed with establishing the dynamic equation of a wingman and the relevant simulation curve is given at last.