Nonlinear homogeneous sliding mode approach for fixed-time robust formation tracking control of networked quadrotors

Mechali, Omar; Xu, Limei; Xie, Xingyu

doi:10.1016/j.ast.2022.107639

Cited by 9 publications

(2 citation statements)

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“…However, transporting a payload with a single quadcopter presents some limitations, such as payload weight, payload oscillations, and intolerance to failure [11]. The solution to this problem is using several quadcopters to carry a payload using a multi-agent system widely used in the literature for multi-quadcopter flight formation [12]- [14]. Using multi-quadcopters for transport improves payload performance, i.e., heavier payloads can be transported, greater control of oscillations, and the ability to complete the transport task even if one quadcopter fails.…”

Section: A Context and Motivationsmentioning

confidence: 99%

A Novel Neural Network-Based Robust Adaptive Formation Control for Cooperative Transport of a Payload Using Two Underactuated Quadcopters

Ccari

Yanyachi

2023

IEEE Access

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supports the financial processing charges (APC) of the IEEE journal for the publication ABSTRACT Designing a controller for the cooperative transport of a payload using quadcopter-type unmanned aerial vehicles (UAVs) is a very challenging task in control theory because these vehicles are underactuated mechanical systems. This paper presents a novel robust adaptive formation control design for the cooperative transport of a suspended payload by ropes using two underactuated quadcopters in the presence of external disturbances and parametric uncertainties. The structure of the proposed controller is divided into two subsystems: fully actuated and underactuated. An integral sliding mode adaptive control strategy is proposed for the fully actuated subsystem, and for the underactuated subsystem, an adaptive control strategy based on the combination of Backstepping and sliding mode is proposed. Then, the control parameters of the sliding surfaces of both control subsystems are adaptively tuned by a neural network. In addition, to improve the robustness of the proposed controller, a disturbance observer is incorporated to estimate and compensate the lumped disturbances. The asymptotic stability of the cooperative transport system is verified with the Lyapunov theorem. Finally, numerical simulations are performed in MATLAB/Simulink environment, and the results show that the proposed controller successfully transports the payload safely and without oscillations. Moreover, the desired formation pattern is maintained throughout the flight task, even with external disturbances and parametric uncertainties.

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Section: A Context and Motivationsmentioning

confidence: 99%

A Novel Neural Network-Based Robust Adaptive Formation Control for Cooperative Transport of a Payload Using Two Underactuated Quadcopters

Ccari

Yanyachi

2023

IEEE Access

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“…Cooperative control of multiagent systems has attracted much attention in recent years, such as consensus [1][2][3][4], formation [5][6][7][8], and flocking problems [9][10][11][12]. e solving of the consensus problem is an essential and interesting topic of cooperative multiagent research.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy-Sliding Consensus Control for Euler–Lagrange Systems with Time-Varying Delays

2022

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This paper presents an adaptive fuzzy sliding-mode controller for multiple Euler–Lagrange systems communicated with directed topology. Based on the graph theory and Lyapunov–Krasovskii functions, a delay-dependent sufficient condition for the existence of sliding surfaces is given in terms of linear matrix inequalities. The asymptotic stability is analyzed by using the Lyapunov method in the presence of unknown parametric dynamics, actuator faults, and time-varying delays. The usage of adaptive techniques is to adapt the unknown parameters so that the objective of globally asymptotic stability is achieved. Finally, simulation results are provided to illustrate the effectiveness of the proposed control scheme.

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Heterogeneous Formation Sliding Mode Control of the Flying Robot and Obstacles Avoidance

Ghaderi,

Toloei,

Ghasemi

2024

Int. J. ITS Res.

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Nonlinear homogeneous sliding mode approach for fixed-time robust formation tracking control of networked quadrotors

Cited by 9 publications

References 50 publications

A Novel Neural Network-Based Robust Adaptive Formation Control for Cooperative Transport of a Payload Using Two Underactuated Quadcopters

A Novel Neural Network-Based Robust Adaptive Formation Control for Cooperative Transport of a Payload Using Two Underactuated Quadcopters

Adaptive Fuzzy-Sliding Consensus Control for Euler–Lagrange Systems with Time-Varying Delays

Heterogeneous Formation Sliding Mode Control of the Flying Robot and Obstacles Avoidance

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