An Improved Formation Control Algorithm in Vicon 3D Motion Capture System
Qiu Tang, Chenxiao Cai, Lei Ma
Available Online October 2016.
- 10.2991/epee-16.2016.60How to use a DOI?
- quadrotor; PD algorithm; circular formation; sliding mode control; leader-follower
In this paper, an improved leader-follower configu-ration control algorithm is proposed to solve the formation problem in Vicon 3D motion capture system. Firstly, an appropriate velocity filter with weight is designed and the acceleration gain matrix is reconstructed to reduce noise and oscillations caused by velocity and acceleration computed by discrete position. Secondly, using Sliding Model Control (SMC) for formation, damping parameters are added to the signal of tracking control for each single quadrotor. Thirdly, formation flight with two quadrotors is carried out. Finally, the experiment results show the feasible and effectiveness.
- © 2016, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Qiu Tang AU - Chenxiao Cai AU - Lei Ma PY - 2016/10 DA - 2016/10 TI - An Improved Formation Control Algorithm in Vicon 3D Motion Capture System BT - Proceedings of the 2016 International Conference on Energy, Power and Electrical Engineering PB - Atlantis Press SP - 268 EP - 273 SN - 2352-5401 UR - https://doi.org/10.2991/epee-16.2016.60 DO - 10.2991/epee-16.2016.60 ID - Tang2016/10 ER -