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.
|Title of host publication||2018 15th International Workshop on Variable Structure Systems, VSS 2018|
|Publisher||IEEE Computer Society|
|Number of pages||6|
|State||Published - 10 Sep 2018|
|Event||15th International Workshop on Variable Structure Systems, VSS 2018 - Graz, Austria|
Duration: 9 Jul 2018 → 11 Jul 2018
|Name||Proceedings of IEEE International Workshop on Variable Structure Systems|
|Conference||15th International Workshop on Variable Structure Systems, VSS 2018|
|Period||9/07/18 → 11/07/18|
Bibliographical noteFunding 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.