Robust Nonlinear Fuzzy Formation Control of Unmanned Quadrotors
Meisam Khakshour, Nima Nourani · International Journal of Computer Applications · 2017
A novel leader-following strategy based on fuzzy logic is introduced to design a formation flight controller for unmanned quadrotors.The proposed strategy uses particle swarm optimization (PSO) to optimize the fuzzy membership function in the guidance law, and a nonlinear dynamic inversion (NDI) controller is designed to control the nonlinear dynamics of the quadrotor.The simulation results show the proposed method has significant advantages in comparison with conventional leading-following strategies in terms of robustness against wind gusts, uncertainties, and unknown dynamics.