Quadrotor Formation Inversion Control Method Based on Unit Quaternion
- 10.2991/icsnce-18.2018.11How to use a DOI?
- Formation Control; Quadrotor; Quaternion; Inversion Method; Leader-follower Method
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, formation members get the geometric center position as the desired trajectory through the consistency algorithm. The backstepping method is used to design the time-varying feedback control law for each four-rotor, so that the formation is stabilized. Finally, the effectiveness of the control method is verified by simulation experiments.
- © 2018, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Wang Zhongsheng AU - Yang Sen AU - Dong Dong Hairui PY - 2018/04 DA - 2018/04 TI - Quadrotor Formation Inversion Control Method Based on Unit Quaternion BT - Proceedings of the 2018 Second International Conference of Sensor Network and Computer Engineering (ICSNCE 2018) PB - Atlantis Press SP - 47 EP - 54 SN - 2352-538X UR - https://doi.org/10.2991/icsnce-18.2018.11 DO - 10.2991/icsnce-18.2018.11 ID - Zhongsheng2018/04 ER -