Decentralized formation flight via PID and integral sliding mode control

Rebbecca T.Y. Thien; Yoonsoo Kim

doi:10.1016/j.ast.2018.08.011

Decentralized formation flight via PID and integral sliding mode control

Rebbecca T.Y. Thien, Yoonsoo Kim^*

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

47 Citations (Scopus)

Abstract

This paper solves a formation control problem for a group of vehicles such as UAVs on a directed network subject to constant and time-varying disturbances or commands. A celebrated PID control is first proposed for constant disturbance rejection. A set of necessary and sufficient conditions for the vehicles to achieve a desired formation is proposed. Then, integral sliding mode control is introduced to tackle unknown but bounded time-varying disturbances or commands. In addition, the control sensitivity with respect to the network topology is analyzed. Finally, a quadcopter formation platform is introduced and used to verify all the presented theoretical results experimentally.

Original language	English
Pages (from-to)	322-332
Number of pages	11
Journal	Aerospace Science and Technology
Volume	81
DOIs	https://doi.org/10.1016/j.ast.2018.08.011
Publication status	Published - Oct 2018
Externally published	Yes

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title = "Decentralized formation flight via PID and integral sliding mode control",

abstract = "This paper solves a formation control problem for a group of vehicles such as UAVs on a directed network subject to constant and time-varying disturbances or commands. A celebrated PID control is first proposed for constant disturbance rejection. A set of necessary and sufficient conditions for the vehicles to achieve a desired formation is proposed. Then, integral sliding mode control is introduced to tackle unknown but bounded time-varying disturbances or commands. In addition, the control sensitivity with respect to the network topology is analyzed. Finally, a quadcopter formation platform is introduced and used to verify all the presented theoretical results experimentally.",

keywords = "Formation control, Integral sliding mode control, Multi-agent system, PID control, Time-varying disturbance, Unmanned aerial vehicle (UAV)",

author = "Thien, {Rebbecca T.Y.} and Yoonsoo Kim",

note = "Publisher Copyright: {\textcopyright} 2018 Elsevier Masson SAS",

year = "2018",

month = oct,

doi = "10.1016/j.ast.2018.08.011",

language = "English",

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T1 - Decentralized formation flight via PID and integral sliding mode control

AU - Thien, Rebbecca T.Y.

AU - Kim, Yoonsoo

PY - 2018/10

Y1 - 2018/10

N2 - This paper solves a formation control problem for a group of vehicles such as UAVs on a directed network subject to constant and time-varying disturbances or commands. A celebrated PID control is first proposed for constant disturbance rejection. A set of necessary and sufficient conditions for the vehicles to achieve a desired formation is proposed. Then, integral sliding mode control is introduced to tackle unknown but bounded time-varying disturbances or commands. In addition, the control sensitivity with respect to the network topology is analyzed. Finally, a quadcopter formation platform is introduced and used to verify all the presented theoretical results experimentally.

AB - This paper solves a formation control problem for a group of vehicles such as UAVs on a directed network subject to constant and time-varying disturbances or commands. A celebrated PID control is first proposed for constant disturbance rejection. A set of necessary and sufficient conditions for the vehicles to achieve a desired formation is proposed. Then, integral sliding mode control is introduced to tackle unknown but bounded time-varying disturbances or commands. In addition, the control sensitivity with respect to the network topology is analyzed. Finally, a quadcopter formation platform is introduced and used to verify all the presented theoretical results experimentally.

KW - Formation control

KW - Integral sliding mode control

KW - Multi-agent system

KW - PID control

KW - Time-varying disturbance

KW - Unmanned aerial vehicle (UAV)

UR - http://www.scopus.com/inward/record.url?scp=85052659933&partnerID=8YFLogxK

U2 - 10.1016/j.ast.2018.08.011

DO - 10.1016/j.ast.2018.08.011

M3 - Article

AN - SCOPUS:85052659933

SN - 1270-9638

VL - 81

SP - 322

EP - 332

JO - Aerospace Science and Technology

JF - Aerospace Science and Technology

ER -

Decentralized formation flight via PID and integral sliding mode control

Abstract

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