Optimal formation control of multiple quadrotors based on particle swarm optimization

Abstract

This paper presents the optimal formation control for a group of quadrotors based on particle swarm optimization (PSO) algorithm. This is motivated by the conventional approaches that still involve a certain degree of trial and error approach which may not give the optimal performance. The parameter optimization using PSO utilizes the linear quadrotor model obtained from feedback linearization technique. Simulations are conducted on the parameter optimization, followed by implementation of the optimal parameters for formation control of multiple quadrotors. The results show the effectiveness of the proposed technique.