Sep 2026· International Conference on Aerospace Electronics Information and Intelligent Systems· Vol 14356, pp. 143560A - 143560A-6· 0 citations· 6 references
Engineering
Abstract
This paper proposes a cluster control system for quadrotor unmanned aerial vehicles (UAVs) based on hierarchical proportional-derivative (PD) control and consensus theory to address the insufficient robustness of single UAVs in complex missions. First, a six-degree-of-freedom (6-DOF) nonlinear dynamic model is established using Newton-Euler equations, which is then decoupled into inner-loop attitude and outer-loop position subsystems for hierarchical control. Subsequently, a distributed formation controller is designed by integrating a consensus algorithm into the PD control law. This ensures attitude and position synchronization across three mission phases: synchronous takeoff, equilateral triangular formation building, and cooperative forward flight. Extensive MATLAB simulations demonstrate the system's high trajectory tracking accuracy and robustness. Under normal conditions, the average formation error is merely 0.1162m.
This paper proposes a horizon-shrinking self-triggered model predictive control (HSSTMPC) strategy for the attitude tracking control of a class of perturbed quadrotor unmanned aerial vehicle (UAV) systems. By jointly designing a selftriggering mechanism and a horizon-shrinking strategy, the solving frequency and dimens...
Jian-Xin Chen, Zhu-Quan Cui, Hui Wang et al.· International Conference on...· 0 citations
This study presents a global predefined-time adaptive control method with prescribed performance for quadrotor UAV safe formation subject to external disturbances. The dynamic models of quadrotor UAVs are first transformed into position and attitude subsystems. Then, a global neural network-robust control strategy with...
Quadrotor unmanned aerial vehicles (UAVs) are increasingly deployed in aerial photography, search and rescue, surveillance, and logistics applications, yet their inherently unstable and nonlinear dynamics make controller design and validation a central challenge. This paper presents the derivation of a full twelve-stat...
Mohamed Juldeh Barrie, Abdulrahman Atiku, Z. Abdi et al.· Global Journal of Engineerin...· 0 citations
The article solves the problem of transporting an oversized payload in space-constrained environments using a multi-agent unmanned aerial vehicle system. An adaptive hybrid control method combining relay (Bang-Bang) speed control at large suspension deflection angles and optimal linear-quadratic regulation (LQR) at sma...
D. Kucherov, Maryna S. Graf· Electronics and Control Syst...· 0 citations
This paper presents the experimental validation of a real-time leader–follower cooperative control architecture for a heterogeneous system composed of a differential-drive Unmanned Ground Vehicle (UGV) and a quadrotor Unmanned Aerial Vehicle (UAV). In the proposed framework, the ground robot acts as the leader and gene...
Imam Barket Ghiloubi, Latifa Abdou, R. Geronel et al.· Journal of the Brazilian Soc...· 0 citations
This paper presents an LMI-based control strategy for stabilizing both the attitude and altitude dynamics of a quadrotor in the presence of a single actuator failure. The analysis considers multiple equilibrium points that can be attained under thrust limitations, and examines the conditions under which stabilization i...
CS Vidya, Harikumar Kandath· Proceedings of the Instituti...· 0 citations
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