Abstract
This paper presents a distributed flocking control methodology for a group of multirotor UAVs (drones) under input disturbances. The proposed method follows Reynolds's three flocking rules: cohesion; alignment; and separation. Each drone determines its velocity control input by solving a fully distributed optimization problem with the constraints for these three rules. Here, the conflict between cohesion and separation is handled by adding a relaxation term to the constraint for cohesion. Moreover, the effect of input disturbances, evaluated in preliminary experiments, is incorporated into the constraint for separation. The effectiveness of the proposed flocking control method is demonstrated via simulation and hardware experiments.
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