Consensus Tracking Control of Multiple Quadrotors with a Cooperative Leader Article Swipe
Izzuddin Mat Lazim
,
Abdul Rashid Husain
,
Liyana Ramli
,
Nurul Adilla Mohd Subha
,
Mohd Ariffanan Mohd Basri
·
YOU?
·
· 2020
· Open Access
·
YOU?
·
· 2020
· Open Access
·
This paper discusses the design of a consensus tracking algorithm with the practical implementation of solving distributed altitude and attitude tracking of multiple quadrotors. In contrast to most of the existing works that consider a leader agent that is non-cooperative, this paper proposes an algorithm that allows the leader agent to receive feedback from a subset of the followers. Firstly, the feedback linearization technique is utilized on the nonlinear quadrotor dynamics which yield a simple linear system. Then, the proposed consensus tracking algorithm is designed and employed to the resulting linear system to achieve consensus tracking on altitude and attitudes via local interaction between neighbours. Results obtained show that the proposed consensus tracking for a group of quadrotors can improve connectivity preservation as compared to the non-cooperative leader in the presence of an obstacle. Based on the formulation of the controller, the methodology can be easily adapted to various systems such as attitude synchronization of multiple satellite systems.
Related Topics
Concepts
Feedback linearization
Control theory (sociology)
Computer science
Tracking (education)
Controller (irrigation)
Synchronization (alternating current)
Nonlinear system
Trajectory
Simple (philosophy)
Control (management)
Linearization
Multi-agent system
Control engineering
Artificial intelligence
Engineering
Pedagogy
Biology
Psychology
Epistemology
Computer network
Agronomy
Channel (broadcasting)
Astronomy
Quantum mechanics
Philosophy
Physics
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doaj.org/article/3536c9c79dc54c4482183dd7e0b7318b
- OA Status
- green
- Cited By
- 1
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3024227879
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3024227879Canonical identifier for this work in OpenAlex
- Title
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Consensus Tracking Control of Multiple Quadrotors with a Cooperative LeaderWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2020Year of publication
- Publication date
-
2020-05-01Full publication date if available
- Authors
-
Izzuddin Mat Lazim, Abdul Rashid Husain, Liyana Ramli, Nurul Adilla Mohd Subha, Mohd Ariffanan Mohd BasriList of authors in order
- Landing page
-
https://doaj.org/article/3536c9c79dc54c4482183dd7e0b7318bPublisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
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https://doaj.org/article/3536c9c79dc54c4482183dd7e0b7318bDirect OA link when available
- Concepts
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Feedback linearization, Control theory (sociology), Computer science, Tracking (education), Controller (irrigation), Synchronization (alternating current), Nonlinear system, Trajectory, Simple (philosophy), Control (management), Linearization, Multi-agent system, Control engineering, Artificial intelligence, Engineering, Pedagogy, Biology, Psychology, Epistemology, Computer network, Agronomy, Channel (broadcasting), Astronomy, Quantum mechanics, Philosophy, PhysicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
1Total citation count in OpenAlex
- Citations by year (recent)
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2023: 1Per-year citation counts (last 5 years)
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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