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Decentralized formation flight via PID and integral sliding mode control
- Authors
- Thien, Rebbecca T. Y.; Kim, Yoonsoo
- Issue Date
- Oct-2018
- Publisher
- ELSEVIER FRANCE-EDITIONS SCIENTIFIQUES MEDICALES ELSEVIER
- Keywords
- Formation control; Time-varying disturbance; Unmanned aerial vehicle (UAV); Multi-agent system; PID control; Integral sliding mode control
- Citation
- AEROSPACE SCIENCE AND TECHNOLOGY, v.81, pp 322 - 332
- Pages
- 11
- Indexed
- SCI
SCIE
SCOPUS
- Journal Title
- AEROSPACE SCIENCE AND TECHNOLOGY
- Volume
- 81
- Start Page
- 322
- End Page
- 332
- ISSN
- 1270-9638
1626-3219
- Abstract
- 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.
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