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Decentralized Formation Flight via PID and Integral Sliding Mode Controlopen access
- Authors
- Thien, R.T.Y.; Kim, Y.
- Issue Date
- 2018
- Publisher
- Elsevier B.V.
- Keywords
- Formation control; integral sliding mode control; multi-agent system; PID control; time-varying disturbance; unmanned aerial vehicle (UAV)
- Citation
- IFAC-PapersOnLine, v.51, no.23, pp 13 - 15
- Pages
- 3
- Indexed
- SCOPUS
- Journal Title
- IFAC-PapersOnLine
- Volume
- 51
- Number
- 23
- Start Page
- 13
- End Page
- 15
- ISSN
- 2405-8963
- 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 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. ? 2018
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