Formation Control Design for Multi-Quad-Rotors with Experimental Validation

https://doi.org/10.58571/CNCA.AMCA.2023.060

Resumen: This paper deals with the design of a controller that guarantees the formation of multiple flying vehicles, specifically Quad-Rotor vehicles. The proposed controller is based on PID control laws and Continuous Sliding Modes (Continuous Twisting Algorithms). In order to show the feasibility and performance of the controller, experimental results were carried out using the Crazeflie Quad-Rotors.

¿Cómo citar?

Rodríguez-Cervantes, Julio Cesar; Dzul, Alejandro; Ríos, Héctor. Formation Control Design for Multi-Quad-Rotors with Experimental Validation. Memorias del Congreso Nacional de Control Automático, pp. 443-448, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.060

Palabras clave

Control de Sistemas No Lineales; Sistemas Multi-Agente; Robótica y Mecatrónica

• Albani, D., IJsselmuiden, J., Haken, R., and Trianni, V. (2017). Monitoring and mapping with robot swarms for agricultural applications. In 2017 14th IEEE International Conference on Advanced Video and Signal Based Surveillance (AVSS), 1-6. IEEE.
• Carrillo, L.G., L´opez, A.D., Lozano, R., and P´egard, C. (2013). Quad rotorcraft control, advances in industrial control.
• Damien, G. (2009). Unmanned aerial vehicle formation flight using sliding mode disturbance bservers. In Aerial vehicles, 211-234. IntechOpen.
• Dong, X., Yu, B., Shi, Z., and Zhong, Y. (2014). Timevarying formation control for unmanned aerial vehicles: Theories and applications. IEEE Transactions on Control Systems Technology, 23(1), 340-348.
• Fridman, L., Moreno, J.A., Bandyopadhyay, B., Kamal, S., and Chalanga, A. (2015). Continuous nested algorithms: The fifth generation of sliding mode controllers. Recent advances in sliding modes: From control to intelligent mechatronics, 5-35.
• Gonz´alez-Sierra, J., Santiaguillo-Salinas, J., and Aranda-Bricaire, E. (2016). Reciprocal collision avoidance for a group of second order agents. In 2016 XVIII Congreso Mexicano de Robotica, 1-5. IEEE.
• Gonzalez-Sierra, J., Rios, H., and Dzul, A. (2020). Quadrotor robust time-varying formation control: a continuous sliding-mode control approach. International Journal of Control, 93(7), 1659-1676.
• Khalil, H.K. (2014). Nonlinear control. Pearson New York.
• Kingston, D., Beard, R.W., and Holt, R.S. (2008). Decentralized perimeter surveillance using a team of uavs. IEEE Transactions on Robotics, 24(6), 1394-1404.
• Li, Z. and Duan, Z. (2017). Cooperative control of multiagent systems: a consensus region approach. CRC
• Maza, I., Kondak, K., Bernard, M., and Ollero, A. (2009). Multi-uav cooperation and control for load transportation and deployment. In Selected papers from the 2nd International Symposium on UAVs, Reno, Nevada, USA June 8–10, 2009, 417-449. Springer.
• McGuire, K., De Wagter, C., Tuyls, K., Kappen, H., and de Croon, G.C. (2019). Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment. Science Robotics, 4(35), eaaw9710.
• Polyakov, A. (2011). Nonlinear feedback design for fixedtime stabilization of linear control systems. IEEE Transactions on Automatic Control, 57(8), 2106-2110.
• Ren, W. and Beard, R.W. (2008). Distributed consensus in multi-vehicle cooperative control, volume 27. Springer.
• Ren, W., Beard, R.W., and Atkins, E.M. (2007). Information consensus in multivehicle cooperative control. IEEE Control systems magazine, 27(2), 71-82.
• Rios, H., Falcon, R., Gonzalez, O.A., and Dzul, A. (2019). Continuous sliding-mode control strategies for quadrotor robust tracking: Real-time application. IEEE Transactions on Industrial Electronics, 66(2), 1264-1272. doi:10.1109/TIE.2018.2831191.
• Senanayake, M., Senthooran, I., Barca, J.C., Chung, H., Kamruzzaman, J., and Murshed, M. (2016). Search and tracking algorithms for swarms of robots: A survey. Robotics and Autonomous Systems, 75, 422-434.
• Torres-Gonzalez, V., Sanchez, T., Fridman, L.M., and Moreno, J.A. (2017). Design of continuous twisting algorithm. Automatica, 80, 119-126.
• Turpin, M., Michael, N., and Kumar, V. (2012). Trajectory design and control for aggressive formation flight with quadrotors. Autonomous Robots, 33(1), 143-156.
• Congreso Nacional de Control Automático 2023, 25-27 de Octubre, 2023. Acapulco, Guerrero, México. 448