Contribution to estimation-based nonlinear control design for multi-UAV systems

Abstract

This work explores control and estimation techniques for the trajectory tracking problem applied to a multi-quadrotor system in the context of leader-follower formation control. We introduce an optimized PID controller, and a Nonlinear Model Predictive Controller (NMPC). State estimation is done using the Extended Kalman Filter (EKF). Extensive simulations validate the proposed approaches. The results provide valuable insights into the performance and suitability of these control approaches. Our contribution lies in the integration of a prediction-based approach in NMPC for the formation control problem and the use of the CasADi optimization framework for multiquadrotor systems.