An innovative framework has been developed for teamwork of two quadcopter formations, each having its specified formation geometry, assigned task, and matching control scheme. Position control for quadcopters in one of the formations has been implemented through a Linear Quadratic Regulator Proportional Integral (LQR PI) control scheme based on explicit model following scheme. Quadcopters in the other formation are controlled through LQR PI servomechanism control scheme. These two control schemes are compared in terms of their performance and control effort. Both formations are commanded by respective ground stations through virtual leaders. Quadcopters in formations are able to track desired trajectories as well as hovering at desired points for selected time duration. In case of communication loss between ground station and any of the quadcopters, the neighboring quadcopter provides the command data, received from the ground station, to the affected unit. Proposed control schemes have been validated through extensive simulations using MATLAB®/Simulink® that provided favorable results.

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The different versions of the original document can be found in:

https://doaj.org/toc/1687-5974 under the license http://creativecommons.org/licenses/by/4.0/
https://academic.microsoft.com/#/detail/2514912609 under the license https://creativecommons.org/licenses/by/3.0/de/deed.de
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Published on 01/01/2016

Volume 2016, 2016
DOI: 10.1155/2016/9108983
Licence: Other

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