Relative Position Control in 3D Space of Cooperating Multirotor UAVs Using Modular Relative Jacobian

摘要

This paper implements a new approach of controlling cooperative unmanned aerial vehicles (UAVs) using relative Jacobian. A new Jacobian-based formulation in controlling UAVs is shown, such that they become components of the modular relative Jacobian that is used to coordinate the motion between two UAVs. This new approach affords a holistic control on the two UAVs that is based on the relative motion of one UAV with respect to the other. In this way the two UAVs are now controlled as a single manipulator with an end-effector and posture control. Thus, any control strategy of a single manipulator can now be applied to the control of the two UAVs. Simulations in Gazebo RotorS shows the relative position control between the two UAVs as well as the posture control of the reference UAV.