Name
Abstract | ||
|---|---|---|
In this paper, the robust consensus of the multiple quadrotors for formation flight is proposed as a solution for the multi-agent system (MAS) problem. The Newton-Euler formulation is used in order to describe the mathematical model of the N quadrotors considered as agents and a Super Twisting algorithm controls the translational and rotational dynamics of each agent so that this control algorithm drives the general sliding manifold to zero in finite time. This general sliding manifold consists of a sliding surface for the navigation of each agent and an auxiliary sliding surface for the consensus of the MAS. In this sense, the Super Twisting algorithm provides robustness against parameter uncertainty and disturbances. Then, the robust consensus algorithm guarantees that the MAS executes the formation flight and pursuit in the trajectory tracking even in presence of disturbances. Finally, real-time experiments show that the MAS successfully reaches the consensus. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1007/s10846-018-0843-3 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
Multi-agent systems, Super twisting algorithm, Robust consensus, Distributed navigation, Formation flight, Quadrotors | Control algorithm,Consensus algorithm,Control theory,Robustness (computer science),Multi-agent system,Engineering,Manifold,Trajectory,Finite time | Journal |
Volume | Issue | ISSN |
93 | 1-2 | 1573-0409 |
Citations | PageRank | References |
0 | 0.34 | 13 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Erik Gilberto Rojo-Rodriguez | 1 | 0 | 0.34 |
| Octavio Garcia | 2 | 12 | 4.26 |
| Edmundo Javier Ollervides Vazquez | 3 | 0 | 0.34 |
| Patricia del C. Zambrano-Robledo | 4 | 2 | 1.10 |
| Eduardo Steed Espinoza Quesada | 5 | 0 | 0.34 |