Abstract
The robust decentralized formation control for the multiagent quadrotor is investigated in this article. The leaderless formation protocol is proposed for a class of square multi-input multi-output nonlinear multiagent systems with an undirected communication graph. The six degree of freedom underactuated nonlinear model of multiagent quadrotor is considered and altered to a four-input four-output model by stabilizing two states internally using sliding mode control (SMC). Later, the sliding mode-based finite-time position, altitude and heading formation is established based on Lyapunov stability theory. The numerical simulations are performed using MATLAB/ Simulink which validate the proposed formation protocol.
| Original language | English |
|---|---|
| Title of host publication | 2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 303-309 |
| Number of pages | 7 |
| ISBN (Electronic) | 9781728167886 |
| DOIs | |
| State | Published - Apr 2020 |
| Externally published | Yes |
Publication series
| Name | 2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020 |
|---|
Bibliographical note
Publisher Copyright:© 2020 IEEE.
Keywords
- MIMO nonlinear formation
- leaderless formation
- multiagent systems
- sliding mode control
ASJC Scopus subject areas
- Energy Engineering and Power Technology
- Electrical and Electronic Engineering
- Electronic, Optical and Magnetic Materials
- Hardware and Architecture
- Signal Processing
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