Improved geometric control quadrotor UAV cluster trajectory tracking

DOI:	10.11809/bqzbgcxb2025.03.029
Keywords:	geometric control; quadrotor; cluster control; trajectory tracking; AirSim
Abstract:	Aiming at the problems of poor robustness, single task execution, slow convergence of traditional control algorithms and low tracking accuracy of a single UAV, an improved geometric control cluster tracking algorithm is proposed, which is of great significance for the study of quadrotor cluster tracking performance. The proposed algorithm is based on the general geometric controller, and the UAV cluster control is improved by the control of a single UAV. The “leader follower” topology and distributed cluster control strategy are adopted, and interference factors such as collision avoidance and communication delay are considered. The simulation environment is built by AirSim/Matlab platform to verify the effectiveness and superiority of the algorithm. According to the simulation results, the average error of the proposed algorithm at the large curvature trajectory with 0.3 s communication delay is reduced by 33.077% compared with the general geometric controller and 19.022% compared with the LQR controller. The proposed algorithm can approach the target trajectory better, with smaller tracking error, faster convergence rate, smaller fluctuation range and stronger formation stability performance.
Issue:	Vol. 46 No. 3 (2025)
Published:	2025-03-31
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