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Consensus Tracking Control of Multiple Quadrotors with a Cooperative Leader

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cris.virtual.departmentUniversiti Sains Islam Malaysia
cris.virtual.departmentUniversiti Sains Islam Malaysia
cris.virtual.orcid0000-0001-7527-1401
cris.virtual.orcid#PLACEHOLDER_PARENT_METADATA_VALUE#
cris.virtualsource.department750e125b-54e1-4b8d-b5c3-773b882f561b
cris.virtualsource.department203ad097-10c9-49b3-b178-2442b15e6d88
cris.virtualsource.orcid750e125b-54e1-4b8d-b5c3-773b882f561b
cris.virtualsource.orcid203ad097-10c9-49b3-b178-2442b15e6d88
dc.contributor.authorNoor Hanis Izzuddin Mat Lazim
dc.contributor.authorAbdul Rashid Husainen_US
dc.contributor.authorLiyana Ramli
dc.contributor.authorNurul Adilla Mohd Subhaen_US
dc.contributor.authorMohd Ariffanan Mohd Basrien_US
dc.date.accessioned2024-05-27T14:37:15Z
dc.date.available2024-05-27T14:37:15Z
dc.date.issued2020
dc.descriptionNon-Indexed Publication
dc.description.abstractThis paper discusses the design of a consensus tracking algorithm with the practical implementation of solving distributed altitude and attitude tracking of multiple quadrotors. In contrast to most of the existing works that consider a leader agent that is non-cooperative, this paper proposes an algorithm that allows the leader agent to receive feedback from a subset of the followers. Firstly, the feedback linearization technique is utilized on the nonlinear quadrotor dynamics which yield a simple linear system. Then, the proposed consensus tracking algorithm is designed and employed to the resulting linear system to achieve consensus tracking on altitude and attitudes via local interaction between neighbours. Results obtained show that the proposed consensus tracking for a group of quadrotors can improve connectivity preservation as compared to the non-cooperative leader in the presence of an obstacle. Based on the formulation of the controller, the methodology can be easily adapted to various systems such as attitude synchronization of multiple satellite systems.en_US
dc.identifier.epage170
dc.identifier.spage159
dc.identifier.urihttp://arqiipubl.com/ojs/index.php/AMS_Journal/article/view/135
dc.identifier.urihttps://oarep.usim.edu.my/handle/123456789/3457
dc.identifier.volume4
dc.language.isoenen_US
dc.publisherARQII Publicationen_US
dc.relation.ispartofAPPLICATIONS OF MODELLING AND SIMULATIONen_US
dc.subjectConsensus; Multi-agent Systems; Quadrotor.en_US
dc.titleConsensus Tracking Control of Multiple Quadrotors with a Cooperative Leaderen_US
dc.typetext::journal::journal article
dspace.entity.typePublication
oairecerif.author.affiliationUniversiti Sains Islam Malaysia
oairecerif.author.affiliation#PLACEHOLDER_PARENT_METADATA_VALUE#
oairecerif.author.affiliationUniversiti Sains Islam Malaysia
oairecerif.author.affiliation#PLACEHOLDER_PARENT_METADATA_VALUE#
oairecerif.author.affiliation#PLACEHOLDER_PARENT_METADATA_VALUE#

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