Daisuke Iwakura

Circular Formation Control of Multiple Quadrotor Aerial Vehicles

This chapter describes the circular leader–follower formation control for multiple quadrotor aerial vehicles (QAVs). The strategy used in this chapter is to apply the control algorithm for conducting a circular motion. This task is known to be important since a trajectory is a combination of movement. This movement can be divided into straight or curve lines. Curve lines or circular motion is essential for obstacle avoidance and also for turning movement. The curves lines or circular motion gives lower trajectory distance than only using straight or angled lines. Since a circular motion is being evaluated, two strategies have been implemented. The first is utilizing the angle and distance between the leader and follower, and the second is utilizing a mass–spring–damper model with the centripetal. Both control strategies have been implemented and have yielded promising results. The first control strategy was developed using only two QAVs, but the second control strategy was developed using four QAVs. Each control strategy can be expanded to include QAVs more than four.