SUMMARYIn 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.

中文翻译：

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基于加权邻域控制的多四旋翼协作快速收敛

摘要在本文中，研究了一种基于加权邻域的多四旋翼系统协同控制。处理编队跟踪问题，其中未给出参考编队轨迹 (RFT)先验. RFT 仅对某些四旋翼飞行器（即领导者）可用。为了实现代理的快速收敛，我们提出了一种算法来以分散的方式计算邻居的权重。然后，权重用于组成编队控制器。与广泛使用的基于平均邻居的控制方法相比，所提出的控制协议可以提高协作误差的收敛速度。由于在拓扑尺度上改进了编队控制，所提出的算法的利用可以扩展到任何多机器人系统。我们通过理论证明、仿真和实时实验展示了所提出的控制协议的改进。