Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
11007264 | Aerospace Science and Technology | 2018 | 11 Pages |
Abstract
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.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Aerospace Engineering
Authors
Rebbecca T.Y. Thien, Yoonsoo Kim,