Cluster Space Formation Control for Multiple Quadrotors Based on Fuzzy PD Control Algorithm

Abstract

For the formation control of multiple quadrotors, this paper adopts the dynamics model which is decoupled from horizontal channel and height channel, and designs the fuzzy PD formation controller to realize the formation flight of three quadrotors under the cluster space framework. Firstly, we select a group of appropriate cluster-level variables to describe the formation state clearly and completely. Then, we establish the relationship between cluster-level variables and individual-level variables through kinematic transformation. After that the fuzzy PD formation controller is designed to enable three unmanned aerial vehicles (UAVs) to realize the planar triangular structure formation flight. Finally, the simulation results show that the designed fuzzy PD controller can realize the triangular formation flight of the UAVs, and has faster response speed and stronger anti-interference performance than the conventional PD controller.