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Fast Convergence of Multi-quadrotor Cooperation Using Weighted-Neighbor-based Control

Published online by Cambridge University Press:  26 February 2021

Zhicheng Hou Open the ORCID record for Zhicheng Hou [Opens in a new window]  and
Gong Zhang
Zhicheng Hou*
Affiliation:
Guangzhou Institute of Advanced Technology, Chinese Academy of Sciences, Beijing, China E-mail: [email protected] Sorbonne universités, Université de technologie de Compiègne, CNRS, UMR 7253 Heudiasyc, 60200 Compiègne, France
Gong Zhang
Affiliation:
Guangzhou Institute of Advanced Technology, Chinese Academy of Sciences, Beijing, China E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

In this paper, a weighted-neighbor-based cooperation control of multi-quadrotor systems is investigated. A formation tracking problem is treated, where the reference formation trajectory (RFT) is not given a priori. The RFT is only available to some of the quadrotors (i.e. the leaders). In order to attain the fast convergence of the agents, we propose an algorithm to calculate the neighbors’ weights in decentralized way. Then, the weights are used to compose the formation controller. Compared to the widely used average-neighbor-based control method, the proposed control protocol can increase the convergence speed of the cooperation error. Since the formation control is improved in topological scale, the utilization of the proposed algorithms can be extended on any multi-robot systems. We show the improvement of the proposed control protocol by theoretical proof, simulation, and real-time experiments.

Keywords

Multi-robot systemsWeighted neighborsQuadrotorsFast converging
Type
Article
Information
Robotica , Volume 39 , Issue 11 , November 2021 , pp. 2061 - 2078
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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