Formation control of quadrotors based on interconnected positive systems
Jun‐ichi Toji, Hiroyuki Ichihara · 2016
This paper deals with formation control of quadrotors based on interconnected positive linear systems where the notion of interconnected positive systems has been known recently in the literature. One of the applications of interconnected positive linear systems has also been known as formation control where each subsystem, for example, each position dynamics of agents must be stable and positive SISO linear system. This paper considers that each agent has dynamics of a quadrotor and investigates formation control based on interconnected positive linear systems. A linearized feedback with a reference point and a local linear feedback are employed to transform each coordinate of the reference point into a stable and positive SISO system. As a result, formation with respect to the reference points of the quadrotors can be achieved. In particular, formation with respect to the real position of the quadrotors can be achieved in a choice of the reference points. The results are illustrated by numerical examples.