Purpose

This paper aims to investigate the distributed formation control problem for a multi-quadrotor unmanned aerial vehicle system without linear velocity feedbacks.

Design/methodology/approach

A nonlinear controller is proposed based on the orthogonal group SE(3) to obviate singularities and ambiguities of the traditional parameterized attitude representations. A cascade structure is applied in the distributed controller design. The inner loop is responsible for attitude control, and the outer loop is responsible for translational dynamics. To ensure a linear-velocity-free characteristic, some auxiliary variables are introduced to construct virtual signals in distributed controller design. The stability analysis of the proposed distributed control method by the Lyapunov function is provided as well.

Findings

A group of four quadrotors with constant reference linear velocity and a group of six quadrotors with varying reference linear velocity are adopted to verify the effectiveness of the proposed strategy.

Originality/value

This is a new innovation for multi-robot formation control method to improve assembly automation.

中文翻译：

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欠驱动无人机的无速度分布式几何编队控制

目的

本文旨在研究无线速度反馈的多四旋翼无人机系统的分布式编队控制问题。

设计/方法/方法

提出了一种基于正交群SE(3)的非线性控制器，以消除传统参数化姿态表示的奇异性和模糊性。分布式控制器设计采用级联结构。内环负责姿态控制，外环负责平移动力学。为了确保无线速度特性，在分布式控制器设计中引入了一些辅助变量来构造虚拟信号。还提供了通过 Lyapunov 函数对所提出的分布式控制方法的稳定性分析。

发现

采用一组具有恒定参考线速度的四个四旋翼飞行器和一组具有变化参考线速度的六个四旋翼飞行器来验证所提出策略的有效性。

原创性/价值

这是多机器人编队控制方法的一项新创新，以提高装配自动化。