کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
11007264 | 1520053 | 2018 | 11 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Decentralized formation flight via PID and integral sliding mode control
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
This paper solves a formation control problem for a group of vehicles such as UAVs on a directed network subject to constant and time-varying disturbances or commands. A celebrated PID control is first proposed for constant disturbance rejection. A set of necessary and sufficient conditions for the vehicles to achieve a desired formation is proposed. Then, integral sliding mode control is introduced to tackle unknown but bounded time-varying disturbances or commands. In addition, the control sensitivity with respect to the network topology is analyzed. Finally, a quadcopter formation platform is introduced and used to verify all the presented theoretical results experimentally.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Aerospace Science and Technology - Volume 81, October 2018, Pages 322-332
Journal: Aerospace Science and Technology - Volume 81, October 2018, Pages 322-332
نویسندگان
Rebbecca T.Y. Thien, Yoonsoo Kim,