Vector Field Based Sliding Mode Control of Curved Path Following for Miniature Unmanned Aerial Vehicles in Winds

2018 ◽  
Vol 31 (1) ◽  
pp. 302-324 ◽  
Author(s):  
Yajing Wang ◽  
Xiangke Wang ◽  
Shulong Zhao ◽  
Lincheng Shen
Keyword(s):  
Vector Field ◽  
Sliding Mode Control ◽  
Unmanned Aerial Vehicles ◽  
Sliding Mode ◽  
Path Following ◽  
Mode Control ◽  
Aerial Vehicles

Circular Leader-Follower Formation Control of Quad-Rotor Aerial Vehicles

2013 ◽  
Vol 25 (1) ◽  
pp. 60-71 ◽  
Author(s):  
Mohammad Fadhil Bin Abas ◽  
◽  
Dwi Pebrianti ◽  
Syaril Azrad Md. Ali ◽  
Daisuke Iwakura ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Obstacle Avoidance ◽  
Formation Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Circular Motion ◽  
Experimental Result ◽  
Distance Error ◽  
Mode Control ◽  
Aerial Vehicles

This paper describes the leader-follower formation control using two different approaches which are the PID leader-follower formation control (PID-LFFC) and Sliding Mode Control leader-follower formation control (SMC-LFFC). The strategy used in this paper is to apply the control algorithm for conducting a circular motion. This task is known to be important since a trajectory is a combination of movement. This movement can be divided into straight or curve lines. Curves lines or circular motion is essential for obstacle avoidance and also for turning movement. The curves lines or circular motion gives lower trajectory distance than only using straight or angled lines. Based on the experimental result, it is seen that the performance of the algorithm is reliable. When using SMC-LFFC over the PID-LFFC, the leader to follower distance error is 30% smaller and has a high 70% occurrence at 0 errors. Additionally, this research is known to be the first conducted in Japan.

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