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Decentralized control for scalable quadcopter formations

Please always quote using this URN: urn:nbn:de:bvb:20-opus-146704
  • An innovative framework has been developed for teamwork of two quadcopter formations, each having its specified formation geometry, assigned task, and matching control scheme. Position control for quadcopters in one of the formations has been implemented through a Linear Quadratic Regulator Proportional Integral (LQR PI) control scheme based on explicit model following scheme. Quadcopters in the other formation are controlled through LQR PI servomechanism control scheme. These two control schemes are compared in terms of their performance andAn innovative framework has been developed for teamwork of two quadcopter formations, each having its specified formation geometry, assigned task, and matching control scheme. Position control for quadcopters in one of the formations has been implemented through a Linear Quadratic Regulator Proportional Integral (LQR PI) control scheme based on explicit model following scheme. Quadcopters in the other formation are controlled through LQR PI servomechanism control scheme. These two control schemes are compared in terms of their performance and control effort. Both formations are commanded by respective ground stations through virtual leaders. Quadcopters in formations are able to track desired trajectories as well as hovering at desired points for selected time duration. In case of communication loss between ground station and any of the quadcopters, the neighboring quadcopter provides the command data, received from the ground station, to the affected unit. Proposed control schemes have been validated through extensive simulations using MATLAB®/Simulink® that provided favorable results.show moreshow less

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Metadaten
Author: Qasim Ali, Sergio Montenegro
URN:urn:nbn:de:bvb:20-opus-146704
Document Type:Journal article
Faculties:Fakultät für Mathematik und Informatik / Institut für Informatik
Language:English
Parent Title (English):International Journal of Aerospace Engineering
Year of Completion:2016
Volume:2016
Pagenumber:9108983
Source:International Journal of Aerospace Engineering Volume 2016 (2016), Article ID 9108983, 10 pages http://dx.doi.org/10.1155/2016/9108983
DOI:https://doi.org/10.1155/2016/9108983
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Tag:scalable quadcopter
Release Date:2017/05/05
Collections:Open-Access-Publikationsfonds / Förderzeitraum 2016
Licence (German):License LogoCC BY: Creative-Commons-Lizenz: Namensnennung