Proceedings ArticleDOI
Leader-follower robust formation control for Quad-Rotors via continuous sliding-modes
Jaime González-Sierra,Hector Rios,Alejandro Dzul +2 more
- pp 1850-1857
TLDR
In this article, the authors proposed a robust output regulation for a set of quad-rotors forming a geometric pattern, which is composed of cascaded continuous sliding-modes controllers providing uniform finite-time stability and uniform exponential stability for the corresponding quad-Rotors positions.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.read more
Citations
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Journal ArticleDOI
Distributed finite‐time formation control for multiple quadrotors via local communications
Journal ArticleDOI
Quad-Rotor robust time-varying formation control: a Continuous Sliding-Mode Control approach
TL;DR: This paper deals with the robust tracking problem for a group of Quad-Rotors forming a time-varying geometric pattern, i.e. formation control, in the presence of external disturbances, and proposes a robust control strategy based on a Continuous Sliding-Mode Control approach.
Proceedings ArticleDOI
NMPC-based Visual Leader-Follower Formation Control for Wheeled Mobile Robots
TL;DR: A novel strategy for Leader-Follower formation control using visual information for wheeled mobile robots using NMPC based on NMPC with a classical method to stability guarantee and a new approach to feasibility guarantee is proposed.
Journal ArticleDOI
Robust sliding-mode formation control and collision avoidance via repulsive vector fields for a group of Quad-Rotors
TL;DR: The combination of the C-SMC strategy, the SMOs, the attractive potential functions and the RVFs robustly solves the formation control and avoidance collision problem under the presence of disturbances.
Journal ArticleDOI
Leader-Follower Formation of Unicycle Mobile Robots Using Sliding Mode Control
TL;DR: In this article , a distributed controller for the formation of unicycle mobile robots whose aim is to follow the leader position maintaining a certain geometry in the horizontal plane is presented, where the sliding mode controllers are designed using local interactions to ensure the convergence to zero of a couple of suitable sliding variables.
References
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