Distributed formation control of multiple quadrotor aircraft based on quaternion
Qingchun Jin, Wenwu Zhu, Haibo Du, Di Wu, Guanghui Wen · IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society · 2017
The distributed synchronization control problem of multiple quadrotor aircraft in the form of leader-follower structure is considered in this paper. Based on the method of backstepping design, a novel distributed consensus control algorithm is proposed. Firstly, for the position control subsystem, by Proportional-Differential control and the theory of communication topology graph, a consensus control law for multiple quadrotor aircraft is designed such that all the quadrotor aircraft can convergence to a leader and move along the desired trajectory asymptotically. The designed distributed consensus control law for position systems will generate the desired attitude for the attitude control subsystems. Secondly, for the attitude control subsystem described by unit quaternion, by employing switch control, a global attitude tracking control law is designed such that the desired attitude can be tracked. Finally, a example is given to demonstrate the efficiency of proposed method.