Tracking Formation Control for Multiple Quadrotors Based on FuzzyLogic Controller and Least Square Oriented by Genetic Algorithm

摘要

This paper studies the leader-follower formation control for multiple quadrotors. Two controllers are used. Thefirst one is a proportional derivative controller used to ensure the tracking of the leader to the desired trajectory, while thesecond is based on fuzzy logic in order to achieve the desired formation in ! ? ! plane with equal height (!) for all followerquadrotors. In order to ensure the speed time convergence of the formation shape, Genetic Algorithm is used onlineto tune the fuzzy logic controller parameters. This genetic algorithm is also used to predict the trajectory of the quadrotorleader in the case of communication failure between leader and follower quadrotors by online estimation of the leastsquare coefficients. Proportional derivative controller is used again to keep the desired formation shape of the followerquadrotors. Finally, simulation results demonstrate the effectiveness of the proposed algorithms.