Formation control of quadrotors with extended feedback linearization based on consensus problem
Jun‐ichi Toji, Hiroyuki Ichihara · 2016
This paper aims formation control of quadrotors with an extended feedback linearization technique. In the framework of an existing consensus problem, double integrators can achieve arbitrary shape of formation. The extended feedback linearization technique is able to convert the reference point of a quadrotor dynamics into four double integrators with respect to the position in the space and the yaw angle. In contrast to the traditional exact feedback linearization, the extended feedback linearization of the quadrotor does not require the jerk where the jerk is derivative of the acceleration and is difficult to measure or estimate. Numerical examples illustrate the reference points and the mass centers of the quadrotors achieve formation.