Consensus-Based Distributed Formation Control of Multi-Quadcopter Systems: Barrier Lyapunov Function Approach

The problem of formation tracking control for a group of quadcopters with nonlinear dynamics using Barrier Lyapunov Functions (BLFs) is studied in this paper where the quadcopters are following a desired predefined trajectory in a predefined formation shape. The BLFs are employed to formulate the pr...

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Bibliographic Details

Published in:	IEEE Access
Main Authors:	Nargess Sadeghzadeh-Nokhodberiz, Nader Meskin
Format:	Article
Language:	English
Published:	IEEE 2023-01-01
Subjects:	Formation tracking control multi-quadcopter system Barrier Lyapunov function (BLF) consensus algorithms
Online Access:	https://ieeexplore.ieee.org/document/10347189/