Diseño y simulación de dos estrategias de control basado en espacio nulo y tipo PID para una formación de cuadricópteros

Abstract

The present work is aim to design and simulate two control strategies based on null space and PID, for a formation of three quadrotors in two and three dimensions, to complete the task of trajectory tracking and formation geometry using the kinematic model of the quadrotor. Two algorithms for obstacle avoidance based con null space are presented with static and mobile obstacles, in two and three dimensions. A PID controller and an exact linearization controller were designed to control the dynamic model of the quadrotors, with which the kinematic formation controller was applied. To analyse the performance of each controller different path were tested and the performance of the system was evaluated through the Integral Squerred Error and the Integral Absolute Error.