Trajectory Tracking Control for Multiple Quadrotors Based on a Neurobiological-Inspired System

摘要

Operating more than two quadrotors at the same time can be complicated and unsafe, for that reason, this paper presents a control system capable of autonomously operating multiple quadrotors simultaneously, efficiently and safe. The control system presented is inspired by the working principle of the mammalian's brain, where a mathematical model of the limbic system is implemented; This model, known as BELBIC, has as main tasks the stabilization of the quadrotors as well as the autonomous tracking of trajectories. In addition, a fuzzy system is presented in order to maintain a constant separation between quadrotors and keep a specific formation. Also, a leader-follower configuration is implemented, which greatly simplifies the operation of the quadrotors. The proposed control method is then verified through a set of tests, both in a real environment and simulations. The results demonstrated the effectiveness and satisfactory performance of the proposed method