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Tham khảo tài liệu 'aerial vehicles part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 292 Aerial Vehicles controllable with the thrust input. However in order to control the translational velocities Vjxb and Vjyb the pitch and roll must be controlled respectively thus redirecting the thrust. With these objectives in mind the frameworks for single UAV control are extended to UAV formation control as follows. 3.1 Follower UAV Control Law Given a leader i subject to the dynamics and kinematics 1 and 4 respectively define a reference trajectory at a desired separation s .d at a desired angle of incidence a-d and bearing p. d for follower j given by p jd Pi - RajdSjid 5 jid 9 where R d is defined as in 5 and written in terms of y d and 5 . d is written in terms of the desired angle of incidence and bearing ajid Pjd Respectively similarly to 7 . Next using 6 and 9 define the position tracking error as ejp pjd - pj R . s- fi - RTajdsjid5 jide E 10 which can be measured using local sensor information. To form the position tracking error dynamics it is convenient to rewrite 10 as e p p - p . - RTds .d5 .d revealing ejp Rv - Rjvj - RTjdsjid5 jid. 11 Next select the desired translational velocity of follower j to stabilize 11 vjd I v dv vjdy vjdz T tf Rìvìd - RaTịdS jid 5jid Kjpejp e Rb 12 where Kp diag kj kjpy kj e 3x3 is a diagonal positive definite design matrix of positive design constants and vịd is the desired translational velocity of leader i. Next the translational velocity tracking error system is defined as ejv ejvx ejvy h 1 vjdy - j vjyb vd - vj e _ _vjdz _ _vjzb _ 13 Applying 12 to 11 while observing vj Vjd - e v and similarly e vv vd - Vị reveals the closed loop position error dynamics to be rewritten as ejp -Kjpejp Rjejv - Rieiv . 14 293 Neural Network Control and Wireless Sensor Network-based Localization of Quadrotor UAV Formations Next the translational velocity tracking error dynamics are developed. Differentiating 13 observing vjd -S o Rd RT RiS 0 vid Rỹid - IL jd R kRRv - RjVj - Ljd substituting the translational velocity dynamics in 1 and
