TY - GEN
T1 - Robust Continuous Sliding-Mode Control for Motion Coordination of a Team of Quad-Rotors
AU - Gonzalez-Sierra, Jaime
AU - Rios, Hector
AU - Dzul, Alejandro
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=85054062422&partnerID=8YFLogxK
U2 - 10.1109/VSS.2018.8460466
DO - 10.1109/VSS.2018.8460466
M3 - Contribución a la conferencia
AN - SCOPUS:85054062422
SN - 9781538664391
T3 - Proceedings of IEEE International Workshop on Variable Structure Systems
SP - 90
EP - 95
BT - 2018 15th International Workshop on Variable Structure Systems, VSS 2018
PB - IEEE Computer Society
T2 - 15th International Workshop on Variable Structure Systems, VSS 2018
Y2 - 9 July 2018 through 11 July 2018
ER -