This project is devoted to implement a real world test for a time-delay cooperative control algorithm on quadrotor-UAVs (Unmanned Aerial Vehicles). The applied control algorithm [1] is designed for multiple agents to follow a leader consensually with time varying delay and model uncertainties. The experiment mainly tested quadrotor-UAVs attitudes (roll and pitch) performance. The flight control program is coded in Raspberry-Pi Micro-Computer. The UDP (User Datagram Protocol) communication protocol is used for network communication among UAVs. A Mac is used as ground station to send commands signal. The raspberry-pi on the UAVs are set as pilots controllers. The experiment results show that the control algorithm works well and the quadrotor-UAVs can be stable at varying attitudes consensually.

Hardware includes: Raspberry-Pi, Brushless DC motors (CW & CCW), 20 Amp ESCs, 2200mAh 3S 25C Lipo battery pack, Propellers, MPU6050 Gyroscopes, Quad-Rotor UAV frames.

Pin connection on Raspberry-Pi: Servo attitude pin Servo-0 (cw) pitch+ pin-7; Servo-2 (cw) pitch - pin-12; Servo-1 (ccw) roll+ pin-11; Servo-3 (ccw) roll- pin-13;

The ServoBlaster program should be run before running the UAV programs.

ESC calibration is needed

Reference: [1] Z. Xie, M. Xin Cooperative Control for Multiple Agents with Time Varying Delay and Model Uncertainties