Title :
Formation Tracking for Multiple Quadrotor Based on Sliding Mode and Fixed Communication Topology
Author :
Abbas, Rabah ; Qinghe Wu
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
In this paper, the consensus and formation tracking control for multiple quad rotors are discussed. The dynamic model of the quad rotor is presented using the Newton-Euler formalism. Because the presence of the external disturbance in the quad rotor dynamic model, the design of the control law is Based on sliding mode control combined with fixed communication topology. With a good choice of parameters in the control law, the consensus and formation tracking are asymptotically achieved and the external disturbance is rejected. The system stability analysis is conducted through the Lyapunov theory and asymptotic tracking stability is demonstrated. The analytic results are supported by simulation tests.
Keywords :
Lyapunov methods; asymptotic stability; autonomous aerial vehicles; control system synthesis; graph theory; path planning; telecommunication network topology; telerobotics; variable structure systems; Lyapunov theory; Newton-Euler formalism; asymptotic tracking stability; consensus tracking control; control law design; external disturbance; fixed communication topology; formation tracking control; quadrotor dynamic model; sliding mode control; sliding mode topology; system stability analysis; Dynamics; Eigenvalues and eigenfunctions; Sliding mode control; Topology; Tracking; Vehicle dynamics; Vehicles; Consensus tracking; Formation control; Quadrotor; Sliding Mode Control SMC;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2013 5th International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-0-7695-5011-4
DOI :
10.1109/IHMSC.2013.204
