Consensus formation strategy for commercial quadrotors

https://doi.org/10.58571/CNCA.AMCA.2025.072

Resumen: Unmanned aerial vehicles (UAVs) have become increasingly important in a wide range of automated processes that require cooperative operation among multiple aircraft. This work presents a consensus-based strategy for a fully connected network, with a generalized control approach for an arbitrary number of agents. The proposed method includes formation position control through the introduction of a virtual agent, as well as orientation control of the UAVs on the unit circle configuration space, SO(2), using the Laplacian matrix. The effectiveness of the proposed strategy is evaluated through numerical simulations performed in MATLAB Simulink.

¿Cómo citar?

López-Alvarez, D., Martínez-Ramírez, M., Trujillo-Flores, M., Rodríguez-Cortés, H. & Romero, J. (2025). Consensus formation strategy for commercial quadrotors. Memorias del Congreso Nacional de Control Automático 2025, pp. 421-426. https://doi.org/10.58571/CNCA.AMCA.2025.072

Palabras clave

Consensus, Unmanned Aerial Vehicle, Flight control, Collision Avoidance.

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