Cooperative Orientation Control of Fixed-Wing Drones Using Relative Jacobian

This paper presents a relative Jacobian control on cooperative fixed-wing drones in terms of relative orientation. The thrust force is maintained at a constant value while controlling the orientation of one fixed-wing drone with respect to the other. This research work presents the pertinent equations to achieve relative orientation control as well as their derivations. It is known that relative Jacobian control releases unnecessary constraints in cooperative manipulation, and is capable of more systematic task prioritization. To the best of our knowledge, this work is the first attempt to use relative Jacobian in cooperative fixed-wing drones. One fixed-wing drone is called the end-effector drone while the other is called the base drone. The end-effector drone moves with respect to the base drone. The control of the relative orientation of the end-effector drone with respect to the base drone is the main task of the relative Jacobian control. While the control of the absolute orientation of the base drone is the secondary task. Simulations in Gazebo are shown using ROSflight package where the roll, pitch, and yaw of the end-effector can be controlled with respect to the base drone.