Decentralized control for scalable quadcopter formations
Zitieren Sie bitte immer diese 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.…
Autor(en): | Qasim Ali, Sergio Montenegro |
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URN: | urn:nbn:de:bvb:20-opus-146704 |
Dokumentart: | Artikel / Aufsatz in einer Zeitschrift |
Institute der Universität: | Fakultät für Mathematik und Informatik / Institut für Informatik |
Sprache der Veröffentlichung: | Englisch |
Titel des übergeordneten Werkes / der Zeitschrift (Englisch): | International Journal of Aerospace Engineering |
Erscheinungsjahr: | 2016 |
Band / Jahrgang: | 2016 |
Seitenangabe: | 9108983 |
Originalveröffentlichung / Quelle: | 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 |
Allgemeine fachliche Zuordnung (DDC-Klassifikation): | 0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik |
Freie Schlagwort(e): | scalable quadcopter |
Datum der Freischaltung: | 05.05.2017 |
Sammlungen: | Open-Access-Publikationsfonds / Förderzeitraum 2016 |
Lizenz (Deutsch): | CC BY: Creative-Commons-Lizenz: Namensnennung |