Decentralized formation flight via PID and integral sliding mode control

被引：31
|
作者：
Thien, Rebbecca T. Y.
Kim, Yoonsoo [1 ]
机构：
[1] Gyeongsang Natl Univ, Grad Sch Mech & Aerosp Engn, Jinju 52828, South Korea
来源：
AEROSPACE SCIENCE AND TECHNOLOGY | 2018年 / 81卷
基金：
新加坡国家研究基金会;
关键词：
Formation control; Time-varying disturbance; Unmanned aerial vehicle (UAV); Multi-agent system; PID control; Integral sliding mode control; SPACECRAFT FORMATION; MULTIAGENT SYSTEMS; QUADROTOR; TRACKING; NAVIGATION; DESIGN;
D O I：
10.1016/j.ast.2018.08.011
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
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. (C) 2018 Elsevier Masson SAS. All rights reserved.
引用
收藏
页码：322 / 332
页数：11
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