Robust Continuous Sliding-Mode Control for Motion Coordination of a Team of Quad-Rotors

Jaime Gonzalez-Sierra, Hector Rios, Alejandro Dzul

Research output: Contribution to conferencePaper

Abstract

© 2018 IEEE. In this paper the problem of motion coordination for a multi-agent system composed of a group of Quad-Rotors, under the leader-follower scheme, is addressed. The proposed control strategy is considered as a decentralized scheme and is composed of cascaded continuous sliding-modes controllers (SMCs). By means of this approach, the Quad-Rotors are able to robustly form a geometric pattern in order to track a desired trajectory despite the presence of bounded unknown inputs. The proposed control strategy provides uniform finite-time stability and uniform exponential stability for the corresponding tracking and formation errors. Numerical simulations illustrate the performance of the proposed control strategy.
Original languageAmerican English
Pages90-95
Number of pages6
DOIs
StatePublished - 10 Sep 2018
Externally publishedYes
EventProceedings of IEEE International Workshop on Variable Structure Systems -
Duration: 10 Sep 2018 → …

Conference

ConferenceProceedings of IEEE International Workshop on Variable Structure Systems
Period10/09/18 → …

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    Gonzalez-Sierra, J., Rios, H., & Dzul, A. (2018). Robust Continuous Sliding-Mode Control for Motion Coordination of a Team of Quad-Rotors. 90-95. Paper presented at Proceedings of IEEE International Workshop on Variable Structure Systems, . https://doi.org/10.1109/VSS.2018.8460466