Such behavior exhibited by the living species is characterized by self-propelled individuals following some basic rules for their collective motion and parallel actions. The idea of formation flight was inspired by the nature-like bees and birds. Quadcopter is the focus of our present paper. However, control design is generally more complex. Quadcopter is the most popular rotorcraft due to its agility, simplicity in design, ease of construction, ability to hover at desired points, and no requirement for a take-off/landing strip. MUAVs are classified into two broad categories, namely, fixed wing and rotary wing aircraft (rotorcraft). Although realization of safe operations for MUAV formations is challenging, the achieved advantages justify the laborious work involved. Performance requirements are high when flying in close proximity to each other. A group of MUAVs are also drawing a lot of attention for 3D aerial maps generation. Some interesting applications in this domain include cooperative grasping, traffic monitoring, mobile communication relays, weather monitoring, and pesticide spraying. Redundancy also does away with the risk of loss of a single whole-mission dependent vehicle. Recent research focuses on the use of multiple inexpensive vehicles flying together, while maintaining required relative separations, to carry out the tasks efficiently compared to a single exorbitant vehicle. MUAVs are also more environment friendly as they cause less air pollution and noise. Remarkable advantages over manned platforms include their much lower manufacturing and operational costs, risk avoidance for human pilots, flying safely low and slow, and realization of operations that are beyond inherent human limitations. These applications range from simple toys found in supermarkets to highly sophisticated applications like offshore wind power station monitoring and so forth. Mini Unmanned Aerial Vehicles (MUAVs) have drawn attention of scientific community from diversified backgrounds due to their versatile applications and obvious advantages over manned platforms. Proposed control schemes have been validated through extensive simulations using MATLAB®/Simulink® that provided favorable results. In case of communication loss between ground station and any of the quadcopters, the neighboring quadcopter provides the command data, received from the ground station, to the affected unit. Quadcopters in formations are able to track desired trajectories as well as hovering at desired points for selected time duration. Both formations are commanded by respective ground stations through virtual leaders. These two control schemes are compared in terms of their performance and control effort.
Quadcopters in the other formation are controlled through LQR PI servomechanism control scheme. Position control for quadcopters in one of the formations has been implemented through a Linear Quadratic Regulator Proportional Integral (LQR PI) control scheme based on explicit model following scheme. An innovative framework has been developed for teamwork of two quadcopter formations, each having its specified formation geometry, assigned task, and matching control scheme.
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