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

Jaime Gonzalez-Sierra; Hector Rios; Alejandro Dzul

doi:10.1109/VSS.2018.8460466

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 proceeding › Conference contribution › peer-review

1 Scopus citations

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 language	English
Title of host publication	2018 15th International Workshop on Variable Structure Systems, VSS 2018
Publisher	IEEE Computer Society
Pages	90-95
Number of pages	6
ISBN (Print)	9781538664391
DOIs	https://doi.org/10.1109/VSS.2018.8460466
State	Published - 10 Sep 2018
Event	15th International Workshop on Variable Structure Systems, VSS 2018 - Graz, Austria Duration: 9 Jul 2018 → 11 Jul 2018

Publication series

Name	Proceedings of IEEE International Workshop on Variable Structure Systems
Volume	2018-July
ISSN (Print)	2165-4816
ISSN (Electronic)	2165-4824

Conference

Conference	15th International Workshop on Variable Structure Systems, VSS 2018
Country/Territory	Austria
City	Graz
Period	9/07/18 → 11/07/18

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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10.1109/VSS.2018.8460466

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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. In 2018 15th International Workshop on Variable Structure Systems, VSS 2018 (pp. 90-95). Article 8460466 (Proceedings of IEEE International Workshop on Variable Structure Systems; Vol. 2018-July). IEEE Computer Society. https://doi.org/10.1109/VSS.2018.8460466

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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. in 2018 15th International Workshop on Variable Structure Systems, VSS 2018., 8460466, Proceedings of IEEE International Workshop on Variable Structure Systems, vol. 2018-July, IEEE Computer Society, pp. 90-95, 15th International Workshop on Variable Structure Systems, VSS 2018, Graz, Austria, 9/07/18. https://doi.org/10.1109/VSS.2018.8460466

Robust Continuous Sliding-Mode Control for Motion Coordination of a Team of Quad-Rotors. / Gonzalez-Sierra, Jaime; Rios, Hector; Dzul, Alejandro.
2018 15th International Workshop on Variable Structure Systems, VSS 2018. IEEE Computer Society, 2018. p. 90-95 8460466 (Proceedings of IEEE International Workshop on Variable Structure Systems; Vol. 2018-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - 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.

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

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