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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

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Robust Formation Control and Trajectory Tracking of Multiple Quadrotors Using a Discrete-Time Sliding Mode Control Technique. / Can, Aydin; Imran, Imil; Price, Joshua et al.
In: IFAC-PapersOnLine, Vol. 55, No. 10, 31.12.2022, p. 2974-2979.

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

Harvard

Can, A, Imran, I, Price, J & Montazeri, A 2022, 'Robust Formation Control and Trajectory Tracking of Multiple Quadrotors Using a Discrete-Time Sliding Mode Control Technique', IFAC-PapersOnLine, vol. 55, no. 10, pp. 2974-2979. https://doi.org/10.1016/j.ifacol.2022.10.184

APA

Can, A., Imran, I., Price, J., & Montazeri, A. (2022). Robust Formation Control and Trajectory Tracking of Multiple Quadrotors Using a Discrete-Time Sliding Mode Control Technique. IFAC-PapersOnLine, 55(10), 2974-2979. https://doi.org/10.1016/j.ifacol.2022.10.184

Vancouver

Can A, Imran I, Price J, Montazeri A. Robust Formation Control and Trajectory Tracking of Multiple Quadrotors Using a Discrete-Time Sliding Mode Control Technique. IFAC-PapersOnLine. 2022 Dec 31;55(10):2974-2979. Epub 2022 Oct 26. doi: 10.1016/j.ifacol.2022.10.184

Author

Can, Aydin ; Imran, Imil ; Price, Joshua et al. / Robust Formation Control and Trajectory Tracking of Multiple Quadrotors Using a Discrete-Time Sliding Mode Control Technique. In: IFAC-PapersOnLine. 2022 ; Vol. 55, No. 10. pp. 2974-2979.

Bibtex

@article{3792b1cb62ce4445b389ba8e318c0951,
title = "Robust Formation Control and Trajectory Tracking of Multiple Quadrotors Using a Discrete-Time Sliding Mode Control Technique",
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.",
keywords = "Sliding mode control, Quadrotor control, Nonlinear discrete-time control, Hector SLAM, Trajectory tracking",
author = "Aydin Can and Imil Imran and Joshua Price and Allahyar Montazeri",
year = "2022",
month = dec,
day = "31",
doi = "10.1016/j.ifacol.2022.10.184",
language = "English",
volume = "55",
pages = "2974--2979",
journal = "IFAC-PapersOnLine",
issn = "2405-8963",
publisher = "IFAC Secretariat",
number = "10",
note = "10th IFAC Conference on Manufacturing Modelling, Management and Control, IFAC MIM 2022 ; Conference date: 22-06-2022 Through 24-06-2022",
url = "https://hub.imt-atlantique.fr/mim2022/",

}

RIS

TY - JOUR

T1 - Robust Formation Control and Trajectory Tracking of Multiple Quadrotors Using a Discrete-Time Sliding Mode Control Technique

AU - Can, Aydin

AU - Imran, Imil

AU - Price, Joshua

AU - Montazeri, Allahyar

PY - 2022/12/31

Y1 - 2022/12/31

N2 - 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.

AB - 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.

KW - Sliding mode control

KW - Quadrotor control

KW - Nonlinear discrete-time control

KW - Hector SLAM

KW - Trajectory tracking

U2 - 10.1016/j.ifacol.2022.10.184

DO - 10.1016/j.ifacol.2022.10.184

M3 - Journal article

VL - 55

SP - 2974

EP - 2979

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8963

IS - 10

T2 - 10th IFAC Conference on Manufacturing Modelling, Management and Control

Y2 - 22 June 2022 through 24 June 2022

ER -