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Front. Robot. AI
Sec. Robotic Control Systems
Volume 11 - 2024 | doi: 10.3389/frobt.2024.1370104
This article is part of the Research Topic Advanced Motion Control and Navigation of Robots in Extreme Environments View all 8 articles

Distributed Safe Formation Tracking Control of Multi-Quadcopter Systems Using Barrier Lyapunov Function

Provisionally accepted
  • 1 Qom University of Technology, Qom, Qom, Iran
  • 2 Islamic Azad University Central Tehran Branch, Tehran, Alborz, Iran
  • 3 Lancaster University, Lancaster, United Kingdom

The final, formatted version of the article will be published soon.

    Coordinating the motion of a robotic fleet using consensus-based techniques is an important problem in achieving the desired goal for a specific task. Although most of the techniques developed for consensus-based control ignore the collision of robots in the transient phase, the available techniques are either computationally expensive or cannot be applied in environments with dynamic obstacles. Therefore, in this paper, we propose a new distributed collision-free formation tracking control for multi-quadcopter systems by exploiting the properties of the Barrier Lyapunov Function (BLFs). For this purpose, the problem is formulated in a backstepping setting and a distributed control law is derived that guarantees collision-free formation tracking of the quads. In other words, both problems of tracking and inter-agent collision avoidance with a predefined accuracy are formulated using the proposed BLFs for the position subsystems and then the controllers are designed through augmentation of a quadratic Lyapunov function. Due to the under-actuated nature of the quadcopter system, virtual control inputs are considered for the translational (x and y axes) subsystems which are then used to generate the desired values for the roll and pitch angles for the attitude control subsystem. This provides a hierarchical controller structure for each quadcopter. The attitude controller is designed for each quadcopter locally taking into account a predetermined limit for the error by another BLF. Finally, to show the accuracy of the proposed method the simulation results in MATLAB-Simulink environment are provided. The numerical comparison of the proposed method with an optimization-based technique proves the superiority of this technique in terms of computation cost, lower steady-state error, and faster response time.

    Keywords: multi-agent systems, formation control, Inter-Vehicle Collision Avoidance, Barrier Lyapunov function (BLF), formation tracking control, Backstepping Controller

    Received: 13 Jan 2024; Accepted: 23 May 2024.

    Copyright: © 2024 Sadeghi, Sadeghzadeh-Nokhodberiz, Barzamini and Montazeri. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

    * Correspondence: Allahyar Montazeri, Lancaster University, Lancaster, United Kingdom

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