Formation Control of Unmanned Vehicles via Extended Feedback Consensus

This paper has considered the problem of formation control of multiple quadrotor using a diversified feedback linearization technique. Taking the advantage of double integrator which normally can achieve any unrestrained shape, we have devised a linearization technique that is made possible using extended feedback. The technique has the ability of transmuting the dynamics of a quadrotor’s reference point to four double integrators in accordance with yaw angle and position of quadrotor in the space. The traditional exact feedback technique require a jerk (which is the derivative of acceleration) but it is not an issue for the extended feedback method. Ending by the conclusion the section numerical example elucidate formation control of quadrotor by using reference point and center of masses of the quadrotors.

Irshad Hussain: Department of Electrical Engineering, UET Peshawar, Pakistan

Amir: Department of Electrical Engineering, UET Peshawar, Pakistan

Waleed Shahjehan: Department of Electrical Engineering, UET Peshawar, Pakistan

M. Riaz: Department of Electrical Engineering, UET Peshawar, Pakistan

M. Suleman: Department of Electrical Engineering, UET Peshawar, Pakistan

Irshad Hussain Amir Waleed Shahjehan M. Riaz and M. Suleman, "Formation Control of Unmanned Vehicles via Extended Feeedback Consensus", International Journal of Engineering Works, Vol. 5 Issue 10 PP. 211-215 October 2018.

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