Stability Control of Multi-Quadcopter Formation Based on Virtual Leader and Flocking Algorithm
DOI:
https://doi.org/10.18196/jrc.v6i3.25598Keywords:
Multi Quadcopter, Virtual Leader, Algoritma Flocking, Twisted Sliding Mode ControlAbstract
This study aims to develop an efficient and stable formation strategy for multi-quadcopter systems, focusing on formation stability based on the number of flying quadcopter members. The formation strategy combines a virtual leader approach and flocking-based behavior to achieve consistent formation movement. The formations are designed as basic circular and elliptical patterns based on bearing measurement. Formation control in multi-quadcopter systems presents a complex challenge, as it requires coordination among autonomously flying UAVs while maintaining overall formation stability and reliability. A Twisted Sliding Mode Control (TSMC) system is implemented to ensure formation stability and responsiveness to predefined trajectory missions. After integrating TSMC, the Root Mean Square Error (RMSE) of position errors in the x, y, and z coordinates decreased by 0.02.
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