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

Aydin Can; Imil Hamda Imran; Joshua Price; Allahyar Montazeri

doi:10.1016/j.ifacol.2022.10.184

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

Aydin Can^*
, Imil Hamda Imran^*
, Joshua Price
, Allahyar Montazeri^*

^*Corresponding author for this work

Research output: Contribution to journal › Conference article › peer-review

4 Scopus citations

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.

Original language	English
Pages (from-to)	2974-2979
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	55
Issue number	10
DOIs	https://doi.org/10.1016/j.ifacol.2022.10.184
State	Published - 2022
Externally published	Yes
Event	10th IFAC Conference on Manufacturing Modelling, Management and Control, MIM 2022 - Nantes, France Duration: 22 Jun 2022 → 24 Jun 2022

Bibliographical note

Publisher Copyright:
Copyright © 2022 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)

Keywords

Hector SLAM
Nonlinear discrete-time control
Quadrotor control
Sliding mode control
Trajectory tracking

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1016/j.ifacol.2022.10.184

Cite this

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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 = "Hector SLAM, Nonlinear discrete-time control, Quadrotor control, Sliding mode control, Trajectory tracking",

author = "Aydin Can and Imran, \{Imil Hamda\} and Joshua Price and Allahyar Montazeri",

note = "Publisher Copyright: Copyright {\textcopyright} 2022 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/); 10th IFAC Conference on Manufacturing Modelling, Management and Control, MIM 2022 ; Conference date: 22-06-2022 Through 24-06-2022",

year = "2022",

doi = "10.1016/j.ifacol.2022.10.184",

language = "English",

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pages = "2974--2979",

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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 Hamda

AU - Price, Joshua

AU - Montazeri, Allahyar

PY - 2022

Y1 - 2022

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 - Hector SLAM

KW - Nonlinear discrete-time control

KW - Quadrotor control

KW - Sliding mode control

KW - Trajectory tracking

UR - https://www.scopus.com/pages/publications/85144560528

U2 - 10.1016/j.ifacol.2022.10.184

DO - 10.1016/j.ifacol.2022.10.184

M3 - Conference article

AN - SCOPUS:85144560528

SN - 2405-8971

VL - 55

SP - 2974

EP - 2979

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 10

T2 - 10th IFAC Conference on Manufacturing Modelling, Management and Control, MIM 2022

Y2 - 22 June 2022 through 24 June 2022

ER -

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

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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