Interactive leader-follower consensus of multiple quadrotors based on composite nonlinear feedback control

	Interactive leader-follower consensus of multiple quadrotors based on composite nonlinear feedback control
	Zhicheng Hou; Isabelle Fantoni
刊名	IEEE Transactions on Control Systems Technology
	2017
文献子类	期刊论文
英文摘要	In this paper, an interactive leader-follower configuration of multiple quadrotors is considered, which means that the leaders can react with respect to the followers. In order to analyze the consensus of such a multiquadrotor system, an interaction matrix is proposed. The convergence condition of the trajectory tracking error is then proved to be related to the smallest eigenvalue of the interaction matrix. In order to achieve an aggressive formation, we develop a bounded composite nonlinear feedback-based formation controller with hyperbolic functions as a main contribution. Simulation and real-time experimental results show that the formation task is achieved with small overshoot and rapid response speed. Real-time experiments show four quadrotors following a circular reference trajectory with high linear velocity up to 2.7 m/s.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/11521]
专题	深圳先进技术研究院_南沙所
作者单位	IEEE Transactions on Control Systems Technology
推荐引用方式 GB/T 7714	Zhicheng Hou,Isabelle Fantoni. Interactive leader-follower consensus of multiple quadrotors based on composite nonlinear feedback control[J]. IEEE Transactions on Control Systems Technology ,2017.
APA	Zhicheng Hou,&Isabelle Fantoni.(2017).Interactive leader-follower consensus of multiple quadrotors based on composite nonlinear feedback control. IEEE Transactions on Control Systems Technology .
MLA	Zhicheng Hou,et al."Interactive leader-follower consensus of multiple quadrotors based on composite nonlinear feedback control". IEEE Transactions on Control Systems Technology (2017).