Flight formation of multiple mini rotorcraft via coordination control

Abstract

In this paper, the coordination and trajectory tracking control design of multiple mini rotorcraft systems are discussed. The dynamic model of a mini rotorcraft is presented using the Newton-Euler formalism. Our approach is based on a leader/follower structure of multiple robot systems. The centroid of the coordinated control subsystem is used for trajectory tracking purposes. A nonlinear coordinated control design for multiple autonomous vehicle synchronization is developed. The analytic results are supported by simulation tests.