Leader-follower robust formation control for Quad-Rotors via continuous sliding-modes

Jaime Gonzalez-Sierra, Hector Rios, Alejandro Dzul

Research output: Contribution to conferencePaper

3 Scopus citations

Abstract

© 2017 IEEE. This paper deals with the problem of robust output regulation for a set of Quad-Rotors forming a geometric pattern. The proposed control strategy is based on sliding-modes techniques, and it is able to robustly regulate the corresponding Quad-Rotors positions and angles in the presence of some class of disturbances acting on the Quad-Rotors. The proposed regulation is composed by cascaded continuous sliding-modes controllers providing uniform finite-time stability and uniform exponential stability for the corresponding Quad-Rotors positions. Simulation results illustrate the feasibility of the proposed strategy.
Original languageAmerican English
Pages1850-1857
Number of pages8
DOIs
StatePublished - 25 Jul 2017
Externally publishedYes
Event2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017 -
Duration: 25 Jul 2017 → …

Conference

Conference2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
Period25/07/17 → …

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    Gonzalez-Sierra, J., Rios, H., & Dzul, A. (2017). Leader-follower robust formation control for Quad-Rotors via continuous sliding-modes. 1850-1857. Paper presented at 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017, . https://doi.org/10.1109/ICUAS.2017.7991329