Improved Leader Follower Formation Control for Multiple Quadrotors Based AFSA
Abstract: In this paper,
formation tracking in ܺ െ ܻ
plane with equal height ሺݖሻ for all quadrotors is discussed.
Two controllers are necessary. First, PID controller is used to ensure the
tracking of the desired trajectory by the first quadrotor named leader. The
formation of the quadrotors in ܺ
െ ܻ plane is achieved by using the directed lyapunov
controller. In order to improve the controller performances, the artificial
fishswarm algorithm is used to ensure the dynamic optimization of the parameter
controllers. When the desired shape formation is achieved, PID controller is
used again to ensure the keeping of this formation shape. Finally, simulation
results demonstrate the effectiveness of the proposed controllers compared to the
ordinary controller and also compared to the static optimization by using the
same algorithm.
Author: Rabah Abbas, Qinghe Wu
Journal Code: jptkomputergg150040
