MAV Circular Leader-Follower Formation Control Utilizing Mass-Spring-Damper with Centripetal Force Consideration
Mohammad Fadhil Bin Abas, Syaril Azrad Md. Ali, Daisuke Iwakura,
Yuze Song, and Kenzo Nonami
Department of Artificial System Science, Graduate School of Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan
Past research has dealt with numerous formation control problems related to leader-follower formation. In the move towards bio-inspired formation, this paper introduces flock formation based on migrating birds. Flock formation development can be subdivided into shape control, shape entrance control and leader change control. Shape control or keeping is the first part of development. Shape keeping in this paper utilizes a virtual spring and damper model to interconnect all the Micro Aerial Vehicles (MAVs) in the formation. Besides that, the algorithm also considers the centripetal force acting on each MAV since a circular/curve motion is being evaluated. The circular leader-follower formation control of multiple MAVs using virtual mass-spring-damper system with the consideration of centripetal force for flock formation shape keeping has been successfully designed and implemented. Based on the experimental result, it is seen that the performance of the algorithm is reliable.
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