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• W2597163568 abstract "In this thesis, we address a leader-follower (L-F) formation control problem for multiple UAVs, especially quadrotors. Different from existing works, the strategies, which are proposed in our work, consider that the leader(s) have interaction with the followers. Additionally, the leader(s) are changeable during the formation. First, the mathematical modeling of a single quadrotor and of the formation of quadrotors is developed. The trajectory tracking problem for a single quadrotor is investigated. Through the analysis of the flatness of the quadrotor dynamical model, the desired trajectory for each quadrotor is transferred to the design of the desired at outputs. A flatness-based trajectory tracking controller is, then, proposed. Considering the double-loop property of the closed-loop quadrotor dynamics, a high-gain attitude controller is designed, according to the singular perturbation system theory. Since the closed-loop quadrotor dynamics performs in two time scales, the rotational dynamics (boundary-layer model) is controlled in a fast time scale. The formation controller design is then only considered for the translational dynamics: reduced model in a slow time scale. This result has simplified the formation controller design such that the reduced model of the quadrotor is considered instead of the complete model. Since the reduced model of the quadrotor has a double-integrator characteristic, consensus algorithm for multiple double-integrator systems is proposed. Dealing with the leader-follower formation problem, an interaction matrix is originally proposed based on the Laplacian matrix. We prove that the convergence condition and convergence speed of the formation error are in terms of the smallest eigenvalue of the interaction matrix. Three formation control strategies with fixed formation topology are then proposed. The flatness-based formation control is proposed to deal with the aggressive formation problem, while the high-order derivatives of the desired trajectory for each UAV are estimated by using an observer; the Lyapunov redesign is developed to deal with the nonlinearities of the translational dynamics of the quadrotors; the hyperbolic tangent-based bounded control with composite nonlinear feedback is developed in order to improve the performance of the formation. In an additional way, a saturated switching control of the formation is investigated, where the formation topology is switching. The stability of the system is obtained by introducing the convex hull theory and the common Lyapunov function. This switching control strategy permits the change of the leaders in the formation. Inspired by some existing works, such as the anonymous neighbor-based formation control, we finally propose a weighted neighbor-based control, which shows better robustness than the anonymous neighbor-based control. Simulation results using Matlab primarily illustrate our proposed formation control strategies. Furthermore, using C++ programming, our strategies are implemented on the simulator-experiment framework, developed at Heudiasyc laboratory. Through a variety of tests on the simulator and real-time experiments, the efficiency and the advantages of our proposed formation control strategies are shown. Finally, a vision-based inter-distance detection system is developed. This system is composed by an on-board camera, infrared LEDs and an infrared filter. The idea is to detect the UAVs and calculate the inter-distance by calculating the area of the special LEDs patterns. This algorithm is validated on a PC, with a webcam and primarily implemented on a real quadrotor." @default.
• W2597163568 created "2017-03-23" @default.
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• W2597163568 date "2016-02-10" @default.
• W2597163568 modified "2023-09-26" @default.
• W2597163568 title "Modeling and formation controller design for multi-quadrotor systems with leader-follower configuration" @default.
• W2597163568 hasPublicationYear "2016" @default.
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