In this paper, group formation control with collision avoidance is investigated for heterogeneous multiquadrotor vehicles. Specifically, the distance-based formation and tracking control problem are addressed in the framework of leader-follower architecture. In this scheme, the leader is assigned the task of intercepting a target whose velocity is unknown, while the follower quadrotors are arranged to set up a predefined rigid formation pattern, ensuring simultaneously interagent collision avoidance and relative localization. The adopted strategy for the control design consists in decoupling the quadrotor dynamics in a cascaded structure to handle its underactuated property. Furthermore, by imposing constraints on the orientation angles, the follower will never be overturned. Rigorous stability analysis is presented to prove the stability of the entire closed-loop system. Numerical simulation results are presented to validate the proposed control strategy.

中文翻译：

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基于Lyapunov势垒函数的防撞四旋翼的基于距离的编队控制。

本文研究了异构多正交飞行器具有避碰的编队控制。具体而言，在领导者跟随者架构的框架中解决了基于距离的编队和跟踪控制问题。在该方案中，负责人被分配了拦截速度未知的目标的任务，而从动四旋翼被布置为建立预定义的刚性编队模式，从而确保同时避免了智能体之间的碰撞和相对定位。控制设计采用的策略是将四旋翼动力学解耦成级联结构，以处理其欠驱动特性。此外，通过对方位角施加约束，从动件将永远不会倾覆。进行了严格的稳定性分析，以证明整个闭环系统的稳定性。数值仿真结果验证了所提出的控制策略。