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JRM Vol.25 No.1 pp. 60-71
doi: 10.20965/jrm.2013.p0060
(2013)

Paper:

Circular Leader-Follower Formation Control of Quad-Rotor Aerial Vehicles

Mohammad Fadhil Bin Abas*, Dwi Pebrianti*, Syaril Azrad Md. Ali*,
Daisuke Iwakura*, Yuze Song*, Kenzo Nonami**,
and Daigo Fujiwara**

*Department of Artificial System Science, Graduate School of Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan

**Department of Mechanical Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan

Received:
December 26, 2011
Accepted:
April 12, 2012
Published:
February 20, 2013
Keywords:
quad-rotor aerial vehicles, circular leaderfollower formation control, motion tracking system, air turbulence, ground effect
Abstract

This paper describes the leader-follower formation control using two different approaches which are the PID leader-follower formation control (PID-LFFC) and Sliding Mode Control leader-follower formation control (SMC-LFFC). The strategy used in this paper is to apply the control algorithm for conducting a circular motion. This task is known to be important since a trajectory is a combination of movement. This movement can be divided into straight or curve lines. Curves lines or circular motion is essential for obstacle avoidance and also for turning movement. The curves lines or circular motion gives lower trajectory distance than only using straight or angled lines. Based on the experimental result, it is seen that the performance of the algorithm is reliable. When using SMC-LFFC over the PID-LFFC, the leader to follower distance error is 30% smaller and has a high 70% occurrence at 0 errors. Additionally, this research is known to be the first conducted in Japan.

Cite this article as:
Mohammad Fadhil Bin Abas, Dwi Pebrianti, Syaril Azrad Md. Ali,
Daisuke Iwakura, Yuze Song, Kenzo Nonami, and
and Daigo Fujiwara, “Circular Leader-Follower Formation Control of Quad-Rotor Aerial Vehicles,” J. Robot. Mechatron., Vol.25, No.1, pp. 60-71, 2013.
Data files:
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