@inproceedings{0660be63aa594683be547d31432161bd,
title = "Improved distributed formation control and trajectory tracking of multi quadrotor in leader-follower formation",
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.",
keywords = "Formation control, Multi quadrotor, PI controller, ROS, Trajectory tracking",
author = "Billie Pratama and Abdul Muis and Aries Subiantoro",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 5th International Conference on New Media Studies, CONMEDIA 2019 ; Conference date: 09-10-2019 Through 11-10-2019",
year = "2019",
month = oct,
doi = "10.1109/CONMEDIA46929.2019.8981827",
language = "English",
series = "Proceedings of 2019 5th International Conference on New Media Studies, CONMEDIA 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "129--134",
booktitle = "Proceedings of 2019 5th International Conference on New Media Studies, CONMEDIA 2019",
address = "United States",
}