Work

Systematic Dual Quaternion Based Controller Comparison for a Leader-Follower Quadrotor Formation

Year: 2025

Type: article

Abstract: This paper investigates the effects of gain selection in a leader-follower configuration controller on the performance and robustness of small Unmanned Aerial Vehicles (UAVs). Additionally, it studies the tracking problem, taking into account the delays that may appear in the system, as this represents a more coherent approximation of a real control scenario. Besides theoretical analysis, this paper presents a robust set of experiments where different gain choices under variable conditions are tested and compared. Dual quaternions are employed to enhance the controller’s reliability and numerical precision. The findings contribute to the understanding and applicability of dual quaternion-based controllers and their tunneling strategies.

Source: Journal of Intelligent & Robotic Systems

DOI: 10.1007/s10846-025-02238-z

Authors: Harrison Neves Marciano, Daniel Khede Dourado Villa, Mário Sarcinelli-Filho, Juan Ignacio Giribet

Institutions: Universidade Federal do Espírito Santo, Consejo Nacional de Investigaciones Científicas y Técnicas, University of San Andrés

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $3,090

Funders: Conselho Nacional de Desenvolvimento Científico e Tecnológico, Fundação de Amparo à Pesquisa e Inovação do Espírito Santo, Agencia Nacional de Promoción Científica y Tecnológica