Decentralized Control for Scalable Quadcopter Formations
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 Proporti...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
|
| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/9108983 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832547463713521664 |
|---|---|
| author | Qasim Ali Sergio Montenegro |
| author_facet | Qasim Ali Sergio Montenegro |
| author_sort | Qasim Ali |
| collection | DOAJ |
| description | 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 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. |
| format | Article |
| id | doaj-art-c9df34850146424e90091cd33532b299 |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-c9df34850146424e90091cd33532b2992025-02-03T06:44:45ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742016-01-01201610.1155/2016/91089839108983Decentralized Control for Scalable Quadcopter FormationsQasim Ali0Sergio Montenegro1Institute of Aerospace Information Technology, University of Würzburg, 97074 Würzburg, GermanyInstitute of Aerospace Information Technology, University of Würzburg, 97074 Würzburg, GermanyAn 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.http://dx.doi.org/10.1155/2016/9108983 |
| spellingShingle | Qasim Ali Sergio Montenegro Decentralized Control for Scalable Quadcopter Formations International Journal of Aerospace Engineering |
| title | Decentralized Control for Scalable Quadcopter Formations |
| title_full | Decentralized Control for Scalable Quadcopter Formations |
| title_fullStr | Decentralized Control for Scalable Quadcopter Formations |
| title_full_unstemmed | Decentralized Control for Scalable Quadcopter Formations |
| title_short | Decentralized Control for Scalable Quadcopter Formations |
| title_sort | decentralized control for scalable quadcopter formations |
| url | http://dx.doi.org/10.1155/2016/9108983 |
| work_keys_str_mv | AT qasimali decentralizedcontrolforscalablequadcopterformations AT sergiomontenegro decentralizedcontrolforscalablequadcopterformations |