Trajectory tracking and formation of quadrotors using a backstepping control and coupling with intermediary system
J. Rubio-Pecasso, Adrian Arellano-Delgado, Rosa Martha López-Gutiérrez, C. Cruz-Hernández · Memorias del Congreso Nacional de Control Automático · 2022
In this work, a trajectory-tracking scheme is proposed by using a backstepping control with a dynamic coupling used as an intermediary system of quadcopters in a master-salve configuration. The desired trajectories for the master quadcopter are conventional, concentric and chaotic trajectories. By means of a proper mathematical analysis and extensive numerical simulations, we show the correct performance of proposed scheme presented.