This paper deals with the problem of robust output regulation for a set of Quad-Rotors forming a geometric pattern. The proposed control strategy is based on sliding- modes techniques, and it is able to robustly regulate the corresponding Quad-Rotors positions and angles in the presence of some class of disturbances acting on the Quad-Rotors. The proposed regulation is composed by cascaded continuous sliding-modes controllers providing uniform finite-time stability and uniform exponential stability for the corresponding Quad-Rotors positions. Simulation results illustrate the feasibility of the proposed strategy.


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    Title :

    Leader-follower robust formation control for Quad-Rotors via continuous sliding-modes


    Contributors:


    Publication date :

    2017-06-01


    Size :

    2956327 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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