导航

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2020, Vol. 41 ›› Issue (S1): 723758-723758.doi: 10.7527/S1000-6893.2019.23758

Previous Articles     Next Articles

Leader-Follower formation control of multiple UAVs with trajectory tracking design

WANG Jing, GU Weibo, DOU Liya   

  1. School of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100013, China
  • Received:2019-12-13 Revised:2019-12-25 Online:2020-06-30 Published:2019-12-26
  • Supported by:
    National Natural Science Foundation of China(61973023,61573050); Beijing Natural Science Foundation (4202052);the Fundamental Research Funds for the Central Universities(XK1802-4)

Abstract: Leader-follower formation control of multiple Unmanned Aerial Vehicle (UAVs) is studied to solve the tracking error caused by the unknown disturbance on the quadrotor UAV group. In this system, firstly, the trajectory tracking controller of the leader UAV is designed by Integral BackStepping (IBS) on the established quadrotor aircraft model. Secondly, a formation control law based on Sliding Mode Control (SMC) is designed to drive the leader and follower UAVs to the desired formation while tracking the reference trajectory. Then the effectiveness of the designed control algorithms is verified by numerical simulations. The simulation results show that the system has good control accuracy. Finally, a experiment of the designed controllers is carried out on Parrot Bebop 2 quadrotor UAVs through the visual positioning system. The experimental results show that the designed controller can achieve the desired tracking and formation of multiple UAVs, verifying the feasibility of the designed controllers.

Key words: integral backstepping, sliding mode controller, trajectory tracking, formation control, flight experiment

CLC Number: