Formation Reconfiguration Based on Backstepping-PID Controller for Collaborative Quadrotors
- Resource Type
- Conference
- Authors
- Mahfouz, Mohamed; Hafez, Ahmed T.; Ashry, Mahmoud M.; Elnashar, Gamal
- Source
- 2020 12th International Conference on Electrical Engineering (ICEENG) Electrical Engineering (ICEENG), 2020 12th International Conference on. :396-401 Jul, 2020
- Subject
- Bioengineering
Communication, Networking and Broadcast Technologies
Computing and Processing
Fields, Waves and Electromagnetics
General Topics for Engineers
Photonics and Electrooptics
Signal Processing and Analysis
Backstepping
Uncertainty
Attitude control
Simulation
Collaboration
Rotors
Position control
quadrotor
backstepping
moving obstacles
obstacle avoidance
- Language
Formation reconfiguration is one of the most significant subjects of the collaborative quadrotors unmanned aerial vehicles (UAVs). In this paper, a backstepping-PID (proportional-integral-derivative) controller is used with a group of multiple collaborative quadrotors to track desired predesigned trajectory. The proposed backstepping-PID controller composed of two-loops of control. First loop is an external-loop for the higher-controller for position control, and the second loop is an internal-loop for the lower-controller for attitude control. The proposed controller uses a backstepping controller as a higher-controller and an PID controller as a lowercontroller. The main contribution in this paper is resolving the formation reconfiguration issue for the collaborative quadrotors in dynamic moving obstacles-loaded environment. Simulation results of collaborative quadrotors show that the proposed backstepping-PID controller enables formation reconfiguration of the collaborative quadrotors to keep a desired formation guaranteeing the obstacle-avoidance operation. The results show the split-rejoin capability of the backstepping-PID controller to retain the original formation configuration of the group. The results of the backstepping-PID controller are compared to a studied earlier backstepping controller in presence and absence of model uncertainty.