TY - JOUR

T1 - Robust sliding-mode formation control and collision avoidance via repulsive vector fields for a group of Quad-Rotors

AU - González-Sierra, Jaime

AU - Dzul, Alejandro

AU - Ríos, Héctor

N1 - Publisher Copyright:
© 2019, © 2019 Informa UK Limited, trading as Taylor & Francis Group.

PY - 2019/5/19

Y1 - 2019/5/19

N2 - This paper is focused on solving the collision avoidance problem for a group of Quad-Rotors which are affected by external disturbances when they are moving in a horizontal plane by means of Repulsive Vector Fields (RVFs). The RVFs are included in an attractive potential function control strategy, that allows the Quad-Rotors to reach the desired position in a geometric pattern, together with a Continuous Sliding-Mode Control (C-SMC) strategy based on Sliding-Mode Observers (SMOs) that are used to estimate, in a finite-time, the linear and angular velocities, respectively. For this purpose, a parameter, which depends on the distance among the Quad-Rotors and their velocities, is designed in order to scale the RVFs properly. In this sense, the repulsion force will be proportional to the velocity and acceleration of the Quad-Rotor when it detects any obstacle. A RVF not properly scaled may result in a collision or a Quad-Rotor movement far away from its desired position. The combination between the C-SMC strategy, the SMOs, the attractive potential functions and the RVFs robustly solves the formation control and avoidance collision problem under the presence of disturbances. Numerical simulations illustrate the performance of the RVFs when the Quad-Rotors are in risk of collision.

AB - This paper is focused on solving the collision avoidance problem for a group of Quad-Rotors which are affected by external disturbances when they are moving in a horizontal plane by means of Repulsive Vector Fields (RVFs). The RVFs are included in an attractive potential function control strategy, that allows the Quad-Rotors to reach the desired position in a geometric pattern, together with a Continuous Sliding-Mode Control (C-SMC) strategy based on Sliding-Mode Observers (SMOs) that are used to estimate, in a finite-time, the linear and angular velocities, respectively. For this purpose, a parameter, which depends on the distance among the Quad-Rotors and their velocities, is designed in order to scale the RVFs properly. In this sense, the repulsion force will be proportional to the velocity and acceleration of the Quad-Rotor when it detects any obstacle. A RVF not properly scaled may result in a collision or a Quad-Rotor movement far away from its desired position. The combination between the C-SMC strategy, the SMOs, the attractive potential functions and the RVFs robustly solves the formation control and avoidance collision problem under the presence of disturbances. Numerical simulations illustrate the performance of the RVFs when the Quad-Rotors are in risk of collision.

KW - Sliding-mode control

KW - collision avoidance

KW - formation control

KW - quad-rotor

UR - http://www.scopus.com/inward/record.url?scp=85067683650&partnerID=8YFLogxK

U2 - 10.1080/00207721.2019.1616128

DO - 10.1080/00207721.2019.1616128

M3 - Artículo

AN - SCOPUS:85067683650

VL - 50

SP - 1483

EP - 1500

JO - International Journal of Systems Science

JF - International Journal of Systems Science

SN - 0020-7721

IS - 7

ER -