Adaptive Sliding Formation Control against Disturbances for a MAV Swarm (I)

Resumen: In this paper, the formation control against disturbances for a quadrotor micro air vehicles swarm system is addressed. The desired formation is obtained using the leader-follower approach. In order to guarantee that the followers converge and keep their desired relative positions with respect to the leader, an adaptive sliding mode controller is proposed. The advantages of such controller rely on its robustness to bounded uncertainties/perturbations and the non overestimation of the control gain, using a minimal gain value to guarantee sliding mode, but increasing if perturbation appears. Furthermore, simulations results illustrate the feasibility and advantages of the proposed formation method.

¿Cómo citar?

Victor Gonzalez & Herman Castañeda. Adaptive Sliding Formation Control against Disturbances for a MAV Swarm (I). Memorias del Congreso Nacional de Control Automático, pp. 189-194, 2019.

Palabras clave

Sistemas Multi-Agente, Control Discontinuo (modos deslizantes)

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