| Abstrakt: |
In this paper, formation tracking control by maintaining a triangular shape for three quadrotors is discussed. Because of the nonlinear dynamic of the quadrotor and the presence of the external disturbance in the quadrotor dynamic model, a sliding mode controller was used for independent control of the quadrotor. Also, the results of the simulation of formation control are presented in the form of three missions. In the first mission, the formation of three triangular quadrotors along the spiral path has been successfully controlled. In the second mission, the three quadrotors linearly trace the sshaped path. The simulation results showed that the followers followed the leader and the formation was successfully performed. The third mission is the same as the previous one, except that the number of followers has increased to five. The simulation results show that with increasing the number of quadrotors, the formation control is still performed successfully. The results of these three missions with different paths, different geometry and number of different quadrotors indicate that the followers follow the leader and succeed in controlling the formation. [ABSTRACT FROM AUTHOR] |
