TY - GEN
T1 - Leader-follower robust formation control for Quad-Rotors via continuous sliding-modes
AU - Gonzalez-Sierra, Jaime
AU - Rios, Hector
AU - Dzul, Alejandro
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/25
Y1 - 2017/7/25
N2 - This paper deals with the problem of robust output regulation for a set of Quad-Rotors forming a geometric pattern. The proposed control strategy is based on sliding-modes techniques, and it is able to robustly regulate the corresponding Quad-Rotors positions and angles in the presence of some class of disturbances acting on the Quad-Rotors. The proposed regulation is composed by cascaded continuous sliding-modes controllers providing uniform finite-time stability and uniform exponential stability for the corresponding Quad-Rotors positions. Simulation results illustrate the feasibility of the proposed strategy.
AB - This paper deals with the problem of robust output regulation for a set of Quad-Rotors forming a geometric pattern. The proposed control strategy is based on sliding-modes techniques, and it is able to robustly regulate the corresponding Quad-Rotors positions and angles in the presence of some class of disturbances acting on the Quad-Rotors. The proposed regulation is composed by cascaded continuous sliding-modes controllers providing uniform finite-time stability and uniform exponential stability for the corresponding Quad-Rotors positions. Simulation results illustrate the feasibility of the proposed strategy.
UR - http://www.scopus.com/inward/record.url?scp=85034086424&partnerID=8YFLogxK
U2 - 10.1109/ICUAS.2017.7991329
DO - 10.1109/ICUAS.2017.7991329
M3 - Contribución a la conferencia
AN - SCOPUS:85034086424
T3 - 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
SP - 1850
EP - 1857
BT - 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
Y2 - 13 June 2017 through 16 June 2017
ER -