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dc.contributor.authorDo, Khac Duc
dc.identifier.citationDo, K.D. 2015. Coordination Control of Quadrotor VTOL Aircraft in Three-Dimensional Space. International Journal of Control. 88 (11): pp. 543-558.

This paper presents a constructive design of distributed coordination controllers for a group of N quadrotor vertical take-off and landing (VTOL) aircraft in three-dimensional space. A combination of Euler angles and unit-quaternion for the attitude representation of the aircraft is used to result in an effective control design, and to reduce singularities in the aircraft’s dynamics. The coordination control design is based on a new bounded control design technique for second-order systems and new pairwise collision avoidance functions. The pairwise collision functions are functions of both relative positions and relative velocities between the aircraft instead of only their relative positions as in the literature. To overcome the inherent underactuation of the aircraft, the roll and pitch angles of the aircraft are considered as immediate controls. Simulations illustrate the results.

dc.publisherTaylor & Francis
dc.subjectcoordination control
dc.subjectcollision avoidance
dc.subjectquadrotor aircraft
dc.titleCoordination Control of Quadrotor VTOL Aircraft in Three-Dimensional Space
dc.typeJournal Article
dcterms.source.titleInternational Journal of Control

The Version of Record of this manuscript has been published and is available in International Journal of Control (2015),

curtin.departmentDepartment of Mechanical Engineering
curtin.accessStatusOpen access

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