Rosales, Claudio Dario (University), Gimenez, Javier (CONICET), Rossomando, Francisco (Conicet - Universidad Nacional de San Juan), Soria, Carlos (Universidad Nacional de San Juan), Sarcinelli-Filho, Mário (Federal University of Espirito Santo), Carelli, Ricardo (Universidad Nacional De San Juan)

UAVs Formation Control with Dynamic Compensation Using Neuro Adaptive SMC

Scheduled for presentation during the Regular Session "Swarms I" (WeA2), Wednesday, June 12, 2019, 11:40−12:00, 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 18, 2024

Abstract

This paper proposes a neuro-adaptive controller evolving in a sub-actuated formation. A formation controller based on the null space approach is defined to obtain the references for local controllers for each one of the quadrotors defined to the transportation task. Formation controller takes into account the transport of a cable-suspended load with two quadrotors considering collision avoidance, wind perturbations, and proper distribution of the load weight. A neuro-adaptive sliding mode control (SMC) controller is defined with the objective to achieve the references obtained by the formation controller. These adjustment laws were obtained through the Lyapunov stability criterion. Finally, numerical simulation shows the excellent performance of the proposed technique for trajectory tracking tasks in unknown navigation environment.