Event-Based Formation Control of Multiple Quadrotors on SO(3)
作者： Chaoyang Dong , Mingyu Ma , Qing Wang , Siqian Ma
DOI: 10.1155/2018/4707219
关键词:
摘要: This paper is concerned with the formation problem of multiple quadrotors, and an event-based control strategy is proposed. The communication topology and relative positions of formation are first considered, and then the model of multiple quadrotors system is developed on the special orthogonal group SO (3). By designing the trigger function, certain events are generated for each quadrotor. Then, the formation controller is driven to update its parameters according to the events. The attitude controller on SO (3) is designed for …
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