Formation Control of Quadcopters with Unknown Target Tracking and Obstacle avoidance Using PID and MPC Controller

This article focuses on the design of a controller for quadcopter position control, which is then used to organize a group of quadcopters into a specific formation. Initially, PID controllers are developed to manage all output variables of the quadcopter systems efficiently. Subsequently, a constrained tube-model predictive control (Tube-MPC) approach is implemented to regulate the system's position, comparing its performance to that of the tube-MPC controller. The article also explores the coordination of a group of six quadcopters, focusing on achieving a predefined formation that maintains the desired shape. Three different scenarios are examined to control the formation, assessing how each approach influences the arrangement and coordination of the quadcopters. The dynamics of the system's control are crucial for effective operation in multi-agent systems. Moreover, the configuration of the quadcopters is influenced by each quadcopter's internal controller, ensuring accurate formation and tracking. This study underscores the significance of sophisticated control strategies in improving the performance and coordination of multiple quadcopter systems.

کلیدواژه ها:

Quadcopter ، Position Control ، PID controller ، Tube-MPC ، Multi-Agent Systèmes Control