Coordination Control of Quadrotor VTOL Aircraft in Three-Dimensional Space
This paper presents a constructive design of distributed coordination controllers for a group of N quadrotor vertical take-off and landing (VTOL) aircraft in three-dimensional space. A combination of Euler angles and unit-quaternion for the attitude representation of the aircraft is used to result i...
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| Format: | Journal Article |
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Taylor & Francis
2015
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| Online Access: | http://hdl.handle.net/20.500.11937/40653 |
| _version_ | 1848755929070174208 |
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| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper presents a constructive design of distributed coordination controllers for a group of N quadrotor vertical take-off and landing (VTOL) aircraft in three-dimensional space. A combination of Euler angles and unit-quaternion for the attitude representation of the aircraft is used to result in an effective control design, and to reduce singularities in the aircraft’s dynamics. The coordination control design is based on a new bounded control design technique for second-order systems and new pairwise collision avoidance functions. The pairwise collision functions are functions of both relative positions and relative velocities between the aircraft instead of only their relative positions as in the literature. To overcome the inherent underactuation of the aircraft, the roll and pitch angles of the aircraft are considered as immediate controls. Simulations illustrate the results. |
| first_indexed | 2025-11-14T09:04:06Z |
| format | Journal Article |
| id | curtin-20.500.11937-40653 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T09:04:06Z |
| publishDate | 2015 |
| publisher | Taylor & Francis |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-406532017-09-13T13:41:44Z Coordination Control of Quadrotor VTOL Aircraft in Three-Dimensional Space Do, Khac Duc coordination control collision avoidance quadrotor aircraft This paper presents a constructive design of distributed coordination controllers for a group of N quadrotor vertical take-off and landing (VTOL) aircraft in three-dimensional space. A combination of Euler angles and unit-quaternion for the attitude representation of the aircraft is used to result in an effective control design, and to reduce singularities in the aircraft’s dynamics. The coordination control design is based on a new bounded control design technique for second-order systems and new pairwise collision avoidance functions. The pairwise collision functions are functions of both relative positions and relative velocities between the aircraft instead of only their relative positions as in the literature. To overcome the inherent underactuation of the aircraft, the roll and pitch angles of the aircraft are considered as immediate controls. Simulations illustrate the results. 2015 Journal Article http://hdl.handle.net/20.500.11937/40653 10.1080/00207179.2014.966324 Taylor & Francis fulltext |
| spellingShingle | coordination control collision avoidance quadrotor aircraft Do, Khac Duc Coordination Control of Quadrotor VTOL Aircraft in Three-Dimensional Space |
| title | Coordination Control of Quadrotor VTOL Aircraft in Three-Dimensional Space |
| title_full | Coordination Control of Quadrotor VTOL Aircraft in Three-Dimensional Space |
| title_fullStr | Coordination Control of Quadrotor VTOL Aircraft in Three-Dimensional Space |
| title_full_unstemmed | Coordination Control of Quadrotor VTOL Aircraft in Three-Dimensional Space |
| title_short | Coordination Control of Quadrotor VTOL Aircraft in Three-Dimensional Space |
| title_sort | coordination control of quadrotor vtol aircraft in three-dimensional space |
| topic | coordination control collision avoidance quadrotor aircraft |
| url | http://hdl.handle.net/20.500.11937/40653 |