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Quadrotors Finite-Time Formation by Nonsingular Terminal Sliding Mode Control with a High-Gain Observer

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Proceedings of the Fifth Euro-China Conference on Intelligent Data Analysis and Applications (ECC 2018)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 891))

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Abstract

This paper investigates the distributed finite-time formation problem of quadrotors using the information of relative position only. A high-gain observer is constructed to estimate the relative velocity through the relative position. Based on the estimated relative velocity, nonsingular terminal sliding mode (NTSM) protocols are designed for followers. The control protocols for the position subsystem of quadrotors are developed by the combination of the isokinetic trending law and the idempotent trending law, which guarantees the realization of finite-time formation accurately and quickly in the presence of the bounded external disturbances and internal uncertainties. Moreover, an idempotent term is introduced to the attitude subsystem, which eliminates the chattering caused by the isokinetic trending law. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.

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Acknowledgments

The authors would thank the National Natural Science Foundation of China (Grant No. U1713223 and 61673325) and the Chancellor Fund of Xiamen University (Grant No. 20720180090) for supporting this research.

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Authors and Affiliations

  1. Xiamen University, Fujian, 361101, China

    Jin Ke, Kangshu Chen, Jingyao Wang & Jianping Zeng

Authors
  1. Jin Ke
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  2. Kangshu Chen
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  3. Jingyao Wang
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  4. Jianping Zeng
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Corresponding author

Correspondence to Jingyao Wang .

Editor information

Editors and Affiliations

  1. Department of Computer Science, VSB-Technical University of Ostrava, Ostrava, Czech Republic

    Pavel Krömer

  2. School of Automation, Xi’an University of Posts and Telecommunications, Xi’an, China

    Hong Zhang

  3. College of Computer Science and Engineering, Shandong University of Science and Technology, Qingdao, China

    Yongquan Liang

  4. College of Information Science and Engineering, Fujian University of Technology, Fuzhou, Fujian, China

    Jeng-Shyang Pan

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Ke, J., Chen, K., Wang, J., Zeng, J. (2019). Quadrotors Finite-Time Formation by Nonsingular Terminal Sliding Mode Control with a High-Gain Observer. In: Krömer, P., Zhang, H., Liang, Y., Pan, JS. (eds) Proceedings of the Fifth Euro-China Conference on Intelligent Data Analysis and Applications. ECC 2018. Advances in Intelligent Systems and Computing, vol 891. Springer, Cham. https://doi.org/10.1007/978-3-030-03766-6_7

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