Improved distributed formation control and trajectory tracking of multi quadrotor in leader-follower formation

Billie Pratama, Abdul Muis, Aries Subiantoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper focuses on two quadrotors with leader-follower formation to conduct a formation tracking. This paper proposes simplified control for this formation tracking. Each quadrotor has two controllers; position and orientation controller. There are only four control parameters that need to be tuned properly. Most of the formation controls are based on the position reference. In general, the follower uses the leader position as its position reference. In this paper, a distributed formation control based on velocity reference is developed. The state of each quadrotor is distributed and the follower uses the velocity command of leader to obtain the velocity signal. The algorithms are validated through simulations and real-time implementations. The results show that the controllers realize the formation tracking.

Original languageEnglish
Title of host publicationProceedings of 2019 5th International Conference on New Media Studies, CONMEDIA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages129-134
Number of pages6
ISBN (Electronic)9781728107264
DOIs
Publication statusPublished - Oct 2019
Event5th International Conference on New Media Studies, CONMEDIA 2019 - Kuta, Bali, Indonesia
Duration: 9 Oct 201911 Oct 2019

Publication series

NameProceedings of 2019 5th International Conference on New Media Studies, CONMEDIA 2019

Conference

Conference5th International Conference on New Media Studies, CONMEDIA 2019
CountryIndonesia
CityKuta, Bali
Period9/10/1911/10/19

Keywords

  • Formation control
  • Multi quadrotor
  • PI controller
  • ROS
  • Trajectory tracking

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    Pratama, B., Muis, A., & Subiantoro, A. (2019). Improved distributed formation control and trajectory tracking of multi quadrotor in leader-follower formation. In Proceedings of 2019 5th International Conference on New Media Studies, CONMEDIA 2019 (pp. 129-134). [8981827] (Proceedings of 2019 5th International Conference on New Media Studies, CONMEDIA 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CONMEDIA46929.2019.8981827