Implementación de algoritmos de consenso para una formación de cuadricópteros : (tomo 2).

Abstract

Volume 2 presented in this work concerns the development and simulation of consensus algorithms for a formation of quadcopters. The concept that arises bases its configuration on distributed control techniques, through the previous analyzes that were carried out in volume 1 for the control of the formation of multiple agents, as well as for the additional PID-type control structure that is applied to individual control. of a training quadcopter to improve trajectory following.The consensus algorithms that were designed in volume 1 are applied, by means of which the quadcopters are commanded and regulated, so that it is possible to obtain the independence of a central communication node, since the agents may be able to behave as autonomous entities and act in a coordinated manner to achieve a common objective by completing, in this case, the trajectory assigned to it.To improve the performance of the trajectory tracking of the formation, individual PID-type controllers are used to more easily obtain the different movements that contribute to the movement of the formation.The performance of the controller is evaluated by means of simulations in Matlab-Simulink and by means of a quantitative analysis given by the performance indices ISE (Integral Quadratic Error) and IAE (Integral Absolute Error), while the behavior of the formation is presented in a graphical interface using the Matlab App Designer tool.