Decentralized Formation Flight via PID and Integral Sliding Mode Control

Thien, Rebbecca Ty; Kim, Yoonsoo

doi:10.1016/j.ifacol.2018.12.003

Cited by 15 publications

(18 citation statements)

References 2 publications

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“…Two reasons lead to this choice. First, PID controller could be used however we assume the disturbances to be time-varying, and PID is bad at rejecting time-varying disturbances [29].…”

Section: Performance Very Good Good Excellentmentioning

confidence: 99%

“…Further, the development of an Integral sliding mode controller (ISC) for GCP was approached with the aim of sustaining the motion [28]. In situ situations were also covered in [29], where authors compared a PID controller with an ISC to maintain the formation of a MAS subjected to constant and time-varying disturbances or commands. The conclusion was made that the ISC presents better stability in case of communication failure.…”

Section: Introductionmentioning

confidence: 99%

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Robust Formation Maintenance Methods under General Topology Pursuit of Multi-Agents Systems

2021

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In this article, methods of formation maintenance for a group of autonomous agents under ageneral topology scheme are discussed. Unlike rendezvous or geometric formation, general topology pursuit allows the group of agents to autonomously form trochoid patterns, which are useful in civilian and military applications. However, this type of topology is established by designing a marginally stable system that may be sensitive to parameter variations. To account for this drawback of stability, linear fixed-gains are turned into a dynamical version in this paper. By implementing a disturbance observer controller, systems are shown to maintain their formation despite the disturbances or uncertainties. Comparison in the effectiveness of the presented method with model reference adaptive control and integral sliding mode control under the uncertainties of the gains is also conducted. The capabilities of controllers are demonstrated and supported through simulations.

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“…Two reasons lead to this choice. First, PID controller could be used however we assume the disturbances to be time-varying, and PID is bad at rejecting time-varying disturbances [29].…”

Section: Performance Very Good Good Excellentmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Formation Maintenance Methods under General Topology Pursuit of Multi-Agents Systems

2021

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“…The mathematical model in the Matlab [2][3][4][5][6][7][8][9][10] environment of the vibration damping unit is shown in Fig. 3.…”

Section: Mathematical Model Of the Vibration Damping Unitmentioning

confidence: 99%

Analysis of the effectiveness of using the block for limiting the vibrations of the load on the mechanism of movement of the bogie with various control systems

et al. 2020

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Damping load vibrations in an electric crane drive is an urgent topic for research. The swinging load has a negative effect on the mechanical part of the device, leading to its wear, and on the entire control system as a whole. To combat the swaying of the load, it is proposed to install a vibration damping block created on the basis of an equation describing the dependence of the change in the deviation of the load on the equilibrium position in the plane of movement of the cart. The control signals in the vibration damping unit are the parameters of truck acceleration, suspension length, and weight of the load. At the output of the vibration damping unit, a speed task is formed. A block diagram of the trolley drive control system has been developed. Both scalar systems and systems with direct torque control are used on trolley travel mechanisms. The paper analyzes the efficiency of using the vibration damping unit when using different control systems on the movement mechanism of the bridge crane trolley.

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“…To enhance the reliability and safety of these applications, researchers have developed many cooperative strategies of quad-rotor systems, one of which is the leader-follower formation scheme that allows for steering multiple quadrotors to form a geometric pattern while tracking a leader/reference. For this sake, three classical approaches can be applied, that is, linearization [11,15,23,24,26,29], inner-outer loop method [18,19,22,25,27,28,31] and feedback linearization approach [4,5,8,20].…”

Section: Introductionmentioning

confidence: 99%

Distributed Leader-Follower Formation Tracking Control of Multiple Quad-rotors

Yan,

2020

Preprint

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The leader-follower formation control analysis for multiple quad-rotor systems is investigated in this paper. To achieve predefined formation in the three-dimensional air space (x, y and z), a novel local tracking control law and a distributed observer are obtained. The local tracking control law starts with finding a bounded continuous yet greater-than-zero control in z, based on which following a feedback linearization (FL) controls derived for errors associated with x and y. By this design method, we obtain less states to be regulated than the traditional extension FL methodology. Then, the proposed distributed observer solves the problems that only a subset of followers can know the leaders states and only neighboring communication is available. Simulation results validate the proposed formation scheme.

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Decentralized Formation Flight via PID and Integral Sliding Mode Control

Cited by 15 publications

References 2 publications

Robust Formation Maintenance Methods under General Topology Pursuit of Multi-Agents Systems

Robust Formation Maintenance Methods under General Topology Pursuit of Multi-Agents Systems

Analysis of the effectiveness of using the block for limiting the vibrations of the load on the mechanism of movement of the bogie with various control systems

Distributed Leader-Follower Formation Tracking Control of Multiple Quad-rotors

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