González-Sierra, Jaime (CONACyT-TECNM/Instituto Tecnológico de la Laguna), Ríos, Héctor (CONACYT - TECNM/Instituto Tecnológico de la Laguna), Dzul, Alejandro (TECNM/Instituto Tecnológico de la Laguna)

Leader-Follower Robust Formation Control for Quad-Rotors Via Continuous Sliding-Modes

Scheduled for presentation during the "UAS Control - III" (FrC5), Friday, June 16, 2017, 17:00−17:20, San Marco Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

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.