Decentralized formation flight via PID and integral sliding mode control

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...

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Bibliographic Details
Published inAerospace science and technology Vol. 81; pp. 322 - 332
Main Authors Thien, Rebbecca T.Y., Kim, Yoonsoo
Format Journal Article
LanguageEnglish
Published Elsevier Masson SAS 01.10.2018
Subjects
Formation control
Integral sliding mode control
Multi-agent system
PID control
Time-varying disturbance
Unmanned aerial vehicle (UAV)
Integral sliding mode control
Unmanned aerial vehicle (UAV)
Formation control
Time-varying disturbance
PID control
Multi-agent system
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Summary: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.
ISSN:1270-9638
1626-3219
DOI:10.1016/j.ast.2018.08.011