Aggressive formation tracking for multiple quadrotors without velocity measurements over directed topologies

• Main Authors: Lin, Jie, Miao, Zhiqiang, Wang, Yaonan, Hu, Guoqiang, Fierro, Rafael
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2023
• Subjects: Engineering::Electrical and electronic engineering; Formation Tracking; Geometric Control
• Online Access: https://hdl.handle.net/10356/170689
• Institution: Nanyang Technological University

This paper addresses the aggressive formation tracking problem of quadrotors without velocity measurements over directed interaction topologies. A distributed formation control scheme is proposed for a multiple quadrotors system, which includes an outer-loop position controller to achieve the desire...