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

Jaime Gonzalez-Sierra, Hector Rios, Alejandro Dzul

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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 languageEnglish
Title of host publication2018 15th International Workshop on Variable Structure Systems, VSS 2018
PublisherIEEE Computer Society
Pages90-95
Number of pages6
ISBN (Print)9781538664391
DOIs
StatePublished - 10 Sep 2018
Event15th International Workshop on Variable Structure Systems, VSS 2018 - Graz, Austria
Duration: 9 Jul 201811 Jul 2018

Publication series

NameProceedings of IEEE International Workshop on Variable Structure Systems
Volume2018-July
ISSN (Print)2165-4816
ISSN (Electronic)2165-4824

Conference

Conference15th International Workshop on Variable Structure Systems, VSS 2018
Country/TerritoryAustria
CityGraz
Period9/07/1811/07/18

Bibliographical note

Funding Information:
*J. González-Sierra and H. Ríos gratefully acknowledges the financial support from CONACYT 266524 and 270504, respectively. All authors gratefully acknowledge the financial support from TecNM projects.

Publisher Copyright:
© 2018 IEEE.

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