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Differential Game-based Formation Flight for Quadrotors

Manuel Jimenez-Lizarraga*, Octavio Garcia, Ricardo Chapa-Garcia, and Erik G. Rojo-Rodriguez
International Journal of Control, Automation, and Systems, vol. 16, no. 4, pp.1854-1865, 2018

Abstract : "This paper focuses on a novel algorithm for the control of formation flight of a set of n-quadrotors based on the differential game approach. The mathematical model of n-quadrotors is presented using the Newton-Euler formulation considering the disturbances, and the formation flight scheme based on the game approach consists of one vehicle acting as a leader following a pre-designed trajectory meanwhile the others vehicles just follow the leader even in the presence of disturbances. A reduced dimension Riccati equation is solved in order to obtain the desired coordination. A numerical example is given in order to illustrate the effectiveness of the approach for the formation flight."

Keyword : Formation flight, linear quadratic games, Newton-Euler model, quadrotors.

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