In this article, a robust path and formation tracking controller is presented for cooperative load transportation by aerial robots. The proposed concept is composed of an equilibrium load distributor and a fast convergence fuzzy sliding-mode controller (ELD-FFSMC). The ELD determines the nominal attitude of each agent for keeping the desired formation shape, which reduces the bound of uncertainty and the gain of switching law in the sliding-mode controller. The FFSMC computes the corrective thrust and attitude for path and formation tracking and compensation of external disturbances. The role of fuzzy system is to eliminate the chattering phenomenon. The position of the payload is the only required value for the guidance algorithm leading to a distributed controller system without having to share information. In the proposed ELD-FFSMC, the finite time convergence of error is proved by the Lyapunov method for a proportional integral derivative (PID) sliding surface, which presents even more robustness. The performance of the proposed ELD-FFSMC shows better precision and faster convergence time with respect to the existing controllers.
Robust Trajectory Tracking for Cooperative Aerial Load Transportation
IEEE Transactions on Aerospace and Electronic Systems ; 60 , 6 ; 8448-8457
2024-12-01
2215900 byte
Article (Journal)
Electronic Resource
English