Terminal Motion Control of Multicopter Group

The article is devoted to the development of terminal control algorithms for a multicopter group. The multicopter model is represented by kinematics and dynamics of a solid body. The desired position of the multicopter in the formation is determined using the Delaunay triangulation and an optimization procedure. Further the program trajectory is constructed. Then the method of position-trajectory control is used to design the feedback, which provides stabilization of the program trajectory. The results are the thrust and the moments generated by the screws. At the fourth stage, the program trajectory is corrected depending on the current position of the mobile object and the presence of obstacles. As a result of the correction, a singularity occurs in the target position. In order to eliminate the singularity, the problem is solved as a problem of weak terminal control. The analysis of the closed system is carried out. The results of numerical simulations confirm the performance of the proposed algorithms on the example of a group of five multicopters.