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.


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    Titel :

    Leader-follower robust formation control for Quad-Rotors via continuous sliding-modes


    Beteiligte:


    Erscheinungsdatum :

    01.06.2017


    Format / Umfang :

    2956327 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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