Katt, Carlos (Tecnologico de Monterrey), Castaneda, Herman (Tecnologico de Monterrey)

Containment Control Based on Adaptive Sliding Mode for a MAV Swarm System under Perturbation

Scheduled for presentation during the Regular Session "Swarms II" (WeB2), Wednesday, June 12, 2019, 16:00−16:20, Heritage A

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

This paper addresses an adaptive containment control for a MAV swarm system, which is subject to perturbations. The graph theory formulation is using to establish the roles of leaders and followers as well as their interaction, and then, an adaptive sliding mode controller is proposed in order to keep the containment in presence of external disturbances on their desired relative positions with respect to the leaders while tracking a time variant trajectory. The advantage of this control method relies on its robustness while drive its adaptive gain as uncertainties/perturbations appear. Simulations results illustrate the feasibility and advantages of the proposed strategy.