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

Resultado de la investigación: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

1 Cita (Scopus)

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 original	Inglés
Título de la publicación alojada	2018 15th International Workshop on Variable Structure Systems, VSS 2018
Editorial	IEEE Computer Society
Páginas	90-95
Número de páginas	6
ISBN (versión impresa)	9781538664391
DOI	https://doi.org/10.1109/VSS.2018.8460466
Estado	Publicada - 10 set. 2018
Evento	15th International Workshop on Variable Structure Systems, VSS 2018 - Graz, Austria Duración: 9 jul. 2018 → 11 jul. 2018

Serie de la publicación

Nombre	Proceedings of IEEE International Workshop on Variable Structure Systems
Volumen	2018-July
ISSN (versión impresa)	2165-4816
ISSN (versión digital)	2165-4824

Conferencia

Conferencia	15th International Workshop on Variable Structure Systems, VSS 2018
País/Territorio	Austria
Ciudad	Graz
Período	9/07/18 → 11/07/18

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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. En 2018 15th International Workshop on Variable Structure Systems, VSS 2018 (pp. 90-95). [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. En 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).

Resultado de la investigación: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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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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