International Journal of

ADVANCED AND APPLIED SCIENCES

EISSN: 2313-3724, Print ISSN: 2313-626X

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 Volume 7, Issue 6 (June 2020), Pages: 82-96

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 Original Research Paper

 Title: Formation control of quadrotors via potential field and geometric techniques

 Author(s): Abdul-Wahid A. Saif *, Najib Alabsari, Sami El Ferik, Mustafa Elshafei

 Affiliation(s):

 Systems Engineering Department, King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi Arabia

  Full Text - PDF          XML

 * Corresponding Author. 

  Corresponding author's ORCID profile: https://orcid.org/0000-0003-2969-1581

 Digital Object Identifier: 

 https://doi.org/10.21833/ijaas.2020.06.011

 Abstract:

In this paper, two leader-follower formation control methods are proposed for a fleet of quadrotors. The linear quadratic regulator (LQR) control technique is designed to stabilize the linear models generated at different points in the operating space. The leader-follower approach is used to achieve formation control where the position and the heading of the leader are used with offsets as references to be tracked by the followers. In the first method, the potential field technique is proposed to achieve the desired formation. The attractive potential field attracts the followers towards the leader while the repulsive potential field repulses every two neighboring followers in order to keep a required distance between them and also avoid the collision. In the second method, the followers’ positions are dictated by the geometry of the desired formation shape. These followers’ positions are expressed in equations that relate them to the leader position and then given to the followers as references to be followed. An extensive simulation is conducted to examine the validity of the results, and the quadrotor non-linear model is used in all simulations. 

 © 2020 The Authors. Published by IASE.

 This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

 Keywords: Quadrotor, UAV, Formation control, LQR, Potential field

 Article History: Received 7 October 2019, Received in revised form 14 March 2020, Accepted 15 March 2020

 Acknowledgment:

The author would like to thank the deanship for scientific research, DSR at KFUPM for their support through project number IN41048.

 Compliance with ethical standards

 Conflict of interest: The authors declare that they have no conflict of interest.

 Citation:

 Saif AWA, Alabsari N, and El Ferik S et al. (2020). Formation control of quadrotors via potential field and geometric techniques. International Journal of Advanced and Applied Sciences, 7(6): 82-96

 Permanent Link to this page

 Figures

 Fig. 1 Fig. 2 Fig. 3 Fig. 4 Fig. 5 Fig. 6 Fig. 7 Fig. 8 Fig. 9 Fig. 10 Fig. 11 Fig. 12 Fig. 13 Fig. 14 Fig. 15 

Fig. 16 Fig. 17 Fig. 18 Fig. 19 Fig. 20 Fig. 21 Fig. 22 Fig. 23 Fig. 24 Fig. 25 Fig. 26 Fig. 27 Fig. 28 Fig. 29 

 Tables

 Table 1 Table 2 Table 3

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