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Robust Formation Control and Trajectory Tracking of Multiple Quadrotors Using a Discrete-Time Sliding Mode Control Technique

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Published
<mark>Journal publication date</mark>31/12/2022
<mark>Journal</mark>IFAC-PapersOnLine
Issue number10
Volume55
Number of pages6
Pages (from-to)2974-2979
Publication StatusPublished
Early online date26/10/22
<mark>Original language</mark>English
Event10th IFAC Conference on Manufacturing Modelling, Management and Control - Cité des congrès de Nantes, Nantes, France
Duration: 22/06/2022 → 24/06/2022
https://hub.imt-atlantique.fr/mim2022/

Conference

Conference10th IFAC Conference on Manufacturing Modelling, Management and Control
Abbreviated titleIFAC MIM 2022
Country/TerritoryFrance
CityNantes
Period22/06/22 → 24/06/22
Internet address

Abstract

In this paper, a centralised robust discrete-time sliding mode controller is proposed for the formation control of a multi-quadrotor system in the presence of disturbances. The control system, based on consensus control, is designed around the full, nonlinear, under actuated dynamics of the quadrotor. Graph theory is used to define the communication topology of the multi-agent system. Results obtained through simulation in MATLAB and Simulink are used to verify the control system.