부산대학교 도서관

This paper presents the implementation of a Super Twisting (ST) controller for distributed formation flight based on a consensus algorithm for multi-agent systems (MAS). The equations of motion of each agent are based on the Newton- Euler approach and the navigation of each agent is distributed. For the navigation, two controllers namely, a PID algorithm and a Super Twisting algorithm, are tested in order to obtain the best performance for the formation flight. These algorithms control the orientation and position dynamics of each agent computing its own algorithm based on local information and information from its neighbors in the multi-agent systems. A consensus algorithm is proposed for formation flight in trajectory tracking of the MAS, and the real-time experiments of the formation flight are presented in order to illustrate the performance of the proposed algorithms.