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Leader-Follower Formation Control of Multiple Quad-rotor Aerial Vehicles

M. Fadhil Abas


This paper presents the research on Multiple Quad-rotor Aerial Vehicles (QAV) equipped with embedded on-board stereo vision system as the only localization system used for leader-follower formation. The stereo vision, stereo triangulation, attitude control and leader-follower formation control is done on-board thus enables the QAV to move and forms leader-follower formation as an autonomous system. The stereo vision and stereo triangulation has successfully been designed and implemented on-board with a good tracking capability. The attitude and leader-follower formation control algorithm used is based on sliding mode control (SMC) theory for both hovering and following mode. The data yields promising simulation and experimental results.

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