Formation Backstepping Control Based on the Cooperative Dual Task-Space Framework: A Case Study on Unmanned Aerial Vehicles

This paper addresses the leader-follower formation control problem. A backstepping control strategy is proposed based on the formation kinematic model, which is formulated using the cooperative dual-task space framework. A group of tilt-rotor unmanned aerial vehicles (UAVs) is used as case study, in...

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Bibliographic Details
Published in2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR) pp. 163 - 168
Main Authors Rego, Brenner S., Adorno, Bruno V., Raffo, Guilherme V.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2016
Subjects
Backstepping
Backstepping control
cooperative dual-task space framework
dual quaternion algebra
Formation control
Kinematics
Mathematical model
Quaternions
Robots
UAVs
Unmanned aerial vehicles
Vehicle dynamics
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Summary:This paper addresses the leader-follower formation control problem. A backstepping control strategy is proposed based on the formation kinematic model, which is formulated using the cooperative dual-task space framework. A group of tilt-rotor unmanned aerial vehicles (UAVs) is used as case study, in which one UAV performs path tracking while being followed by the others. To accomplish this task, a linear state-feedback D-stable H-infinity controller is designed for each individual based on the UAV's linearized dynamic equations. Simulation results considering constant external disturbances are shown to highlight the effectiveness and robustness of the proposed formation control strategy. Moreover, the proposed strategy is compared with the known task-space inverse dynamics technique.
DOI:10.1109/LARS-SBR.2016.34