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

Jaime Gonzalez-Sierra, Hector Rios, Alejandro Dzul

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2018 15th International Workshop on Variable Structure Systems, VSS 2018
EditorialIEEE Computer Society
Páginas90-95
Número de páginas6
ISBN (versión impresa)9781538664391
DOI
EstadoPublicada - 10 sep 2018
Evento15th International Workshop on Variable Structure Systems, VSS 2018 - Graz, Austria
Duración: 9 jul 201811 jul 2018

Serie de la publicación

NombreProceedings of IEEE International Workshop on Variable Structure Systems
Volumen2018-July
ISSN (versión impresa)2165-4816
ISSN (versión digital)2165-4824

Conferencia

Conferencia15th International Workshop on Variable Structure Systems, VSS 2018
País/TerritorioAustria
CiudadGraz
Período9/07/1811/07/18

Nota bibliográfica

Publisher Copyright:
© 2018 IEEE.

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