Iterative linear quadratic regulator control for quadrotors leader-follower formation flight

摘要

This paper presents an iterative linear quadratic regulator optimal control technique to solve the problem of quadrotors leader-follower formation. The dynamic motion equations are represented based on unit quaternion representation and include some modelled aerodynamical effects as a nonlinear part. Simulation results prove the ability and effectiveness of iLQR controller to successfully track different paths by the leader and maintain the relative distance between the leader and the follower by the follower. It also shows that iLQR controller outperforms LQR controller in terms of fast convergence and tracking errors.