Exponential distributed leader-follower consensus formation control of a networked fourth-order multi-quadrotor system
Ching‐Chih Tsai, Chia-Wei Kuo · 2016
This paper presents two exponential leader-follower consensus formation control approaches with collision and obstacle avoidance for a networked, homogenous quadrotors cooperatively flying at a fixed altitude. The dynamic behavior of each quadrotor is modelled by a fourth-order system model and the multi-quadrotor system is modeled by a directed graph which has a spanning tree with the root being the leader. By using the Lyapunov and sliding-mode control techniques, two exponential, distributed consensus formation control approaches are presented to accomplish consensus formation control. Simulations are conducted to show the effectiveness and merits of the proposed methods with Collision - free and obstacle-avoidance methods.