Flocking of quad-rotor UAVs with fuzzy control
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Updated: Feb 15, 2026

Fluorescence Lifetime Imaging of Molecular Rotors in Living Cells
Published on: February 9, 2012
Xiang Mao1, Hongbin Zhang1, Yanhui Wang1
1School of Electronic Engineering, University of Electronic Science and Technology of China, Chengdu, Sichuan, China.
Abstract:
This paper investigates the flocking problem of quad-rotor UAVs. Considering the actual situations, we derived a new simplified quad-rotor UAV model which is more reasonable. Based on the model, the T-S fuzzy model of attitude dynamic equation and the corresponding T-S fuzzy feedback controller are discussed. By introducing a double-loop control construction, we adjust its attitude to realize the position control. Then a flocking algorithm is proposed to achieve the flocking of the quad-rotor UAVs. Compared with the flocking algorithm of the mass point model, we dealt with the collision problem of the quad-rotor UAVs. In order to improve the airspace utilization, a more compact configuration called quasi e-lattice is constructed to guarantee the compact flight of the quad-rotor UAVs. Finally, numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results.
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