A Fixed-Time Hierarchical Formation Control Strategy for Multiquadrotors

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center"><span style="width: 22.5835ptpx;"><svg height="12.4933pt" id="M172" style="vertical-align:-4.679481pt" version="1.1" viewbox="-0.0498162 -7.81382 22.5835 12.4933" width="22.5835pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.626,3.132)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 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style="width: 31.4801ptpx;"><svg height="12.4933pt" id="M175" style="vertical-align:-4.679481pt" version="1.1" viewbox="-0.0498162 -7.81382 31.4801 12.4933" width="31.4801pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.626,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,12.058,3.132)"><path d="M245 635C92 635 37 457 37 312C37 149 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transform="matrix(.0091,0,0,-0.0091,27.509,3.132)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z"></path></g></svg></span></td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">Control algorithm (<a href="https://static-preview.hindawi.com/articles/jr/volume-2021/9979713/figures/#EEq34" target="_blank">34</a>)</td><td class="align_center">3.39</td><td class="align_center">6.49</td><td class="align_center">9.85</td><td class="align_center">&gt;15</td></tr><tr><td class="align_left">Control algorithm (<a href="https://static-preview.hindawi.com/articles/jr/volume-2021/9979713/figures/#EEq9" target="_blank">9</a>)</td><td class="align_center">2.53</td><td class="align_center">2.51</td><td class="align_center">2.54</td><td class="align_center">2.79</td></tr><tr><td class="align_left">Performance improvement (%)</td><td class="align_center">25.4</td><td class="align_center">61.3</td><td class="align_center">74.2</td><td class="align_center">&gt;81</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Comparison results with two control algorithms.</div>

Journal of Robotics

tab2

Table 2

Table 2: A Fixed-Time Hierarchical Formation Control Strategy for Multiquadrotors 