Coordinative Formation Control Of Multiple Quadrotors

With the rapid development of science and technology, the application of automation can be found both in daily life and industry. In nowadays, human beings have been replaced by housework service robots, industrial robots, and robots with military capabilities in dangerous working environment to improve the efficiency and security. But in the research of single agent, the complexity of the task requires for higher computational load, thereby decreases the real-time. The cooperation of multi-agent system is to accomplish the given local task distributedly, therefore the individual cost of resources can be reduced. The formation control systems have been widely applied to satellites, marine vessels and etc.Quadrotor as an important branch of robot, lots of study has been learned, especially in the formation control system. Current research priorities include: formations formation and switch flight path planning of cooperative mechanisms. Multi-robot formation main methods are: Follow the leader method, behavior-based method, a virtual structure method.Quadrotor as the subject of experiment in this paper and Leader-Follower method is presented and the formation based on l-? form. Introduced the mathematic model of Quadrotor and design the controller base on Backstepping-PID to ensure the quadrotor can tracking the excepted path.In consideration of the actual formation system, in this paper, we ignore the dynamic model and just taking the kinematic model into consideration, and design the controller base on PID to keep the formations during tracking the desire route.To ensure the experiment can be smooth tested, each quadrotor has a distributed formation controlle. Exchange the input of the remote controller with PC-104 DA port, so we can give each quadrotor the desire command to ensure the position of it. We using Matlab to write control algorithm. Monitoring experiment via NetCon system, so we can easily to change the parameter and obtain experiment data.Finally, the experiment of single quadrotor tracking route and the experiment of formation control have been tested. Giving the data of all experiments we have obtained in this paper, and analysis the effect of the controllers that been designed.