Integral sliding mode formation control of fixed-wing unmanned aircraft using seeker as a relative measurement system

2016 ◽  
Vol 58 ◽  
pp. 318-327 ◽  
Author(s):  
Mohammad A. Dehghani ◽  
Mohammad B. Menhaj
Keyword(s):  
Measurement System ◽  
Formation Control ◽  
Sliding Mode ◽  
Unmanned Aircraft ◽  
Relative Measurement ◽  
Integral Sliding Mode ◽  
Mode Formation

scholarly journals Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

2017 ◽  
Vol 65 (1) ◽  
pp. 35-44 ◽  
Author(s):  
D.W. Qian ◽  
S.W. Tong ◽  
C.D. Li
Keyword(s):  
Formation Control ◽  
Sliding Mode ◽  
Multiple Agents ◽  
Nonlinear Disturbance Observer ◽  
Integral Sliding Mode ◽  
Agent Platform ◽  
Control Scheme ◽  
Mild Assumption ◽  
Leader Following ◽  
Multi Agent

Abstract This paper investigates the formation control problem of multiple agents. The formation control is founded on leader-following approaches. The method of integral sliding mode control is adopted to achieve formation maneuvers of the agents based on the concept of graph theory. Since the agents are subject to uncertainties, the uncertainties also challenge the formation-control design. Under a mild assumption that the uncertainties have an unknown bound, the technique of nonlinear disturbance observer is utilized to tackle the issue. According to a given communication topology, formation stability conditions are investigated by the observer-based integral sliding mode formation control. From the perspective of Lyapunov, not only is the formation stability guaranteed, but the desired formation of the agents is also realized. Finally, some simulation results are presented to show the feasibility and validity of the proposed control scheme through a multi-agent platform.

scholarly journals Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

2008 ◽  
Vol 55 (11) ◽  
pp. 3944-3953 ◽  
Author(s):  
M. Defoort ◽  
T. Floquet ◽  
A. Kokosy ◽  
W. Perruquetti
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Sliding Mode ◽  
Autonomous Mobile Robots ◽  
Mode Formation
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