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Article | 07-May-2018

Quadrotor Formation Control Method Based on Graph and Consistency Theory

This paper introduces graph and group system consistency theory and puts forward a quadrotor formation control method. The quadrotor is described as a second-order integrator dynamic system, and the relative position deviation of different quadrotors is used to describe formation. According to the communication topology relationship between quadrotors, the formation is modeled by graph theory. The fusion of the pilot-follow and graph theory method is analyzed, and a second-order coherence

Yang Sen, Xi Leiping

International Journal of Advanced Network, Monitoring and Controls, Volume 3 , ISSUE 2, 54–61

Article | 07-May-2018

Quadrotor Formation Inversion Control Method Based on Unit Quaternion

In this paper, the formation control problem of quadrotor is studied under ideal communication condition. The quadrotor has a complex mathematical model. First, the unit quaternion method is used to describe its dynamic model and kinematic model. It is decomposed into two independent subsystems of position and attitude. The tracking error model is established by introducing the error between the ture trajectory and the desired trajectory. And then appointing a member of formation as a pilot

Wang Zhongsheng, Yang Sen, Dong Hairui

International Journal of Advanced Network, Monitoring and Controls, Volume 3 , ISSUE 1, 27–34

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