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On decentralized adaptive full-order sliding mode control of multiple UAVs

Xianbo Xiang 1 Chao Liu 2 Hongsheng Su 1 Qin Zhang 1 
2 DEXTER - Robotique médicale et mécanismes parallèles
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In this study, a novel decentralized adaptive full-order sliding mode control framework is proposed for the robust synchronized formation motion of multiple unmanned aerial vehicles (UAVs) subject to system uncertainty. First, a full-order sliding mode surface in a decentralized manner is designed to incorporate both the individual position tracking error and the synchronized formation error while the UAV group is engaged in building a certain desired geometric pattern in three dimensional space. Second, a decentralized virtual plant controller is constructed which allows the embedded low-pass filter to attain the chattering free property of the sliding mode controller. In addition, robust adaptive technique is integrated in the decentralized chattering free sliding control design in order to handle unknown bounded uncertainties, without requirements for assuming a priori knowledge of bounds on the system uncertainties as stated in conventional chattering free control methods. Subsequently, system robustness as well as stability of the decentralized full-order sliding mode control of multiple UAVs is synthesized. Numerical simulation results illustrate the effectiveness of the proposed control framework to achieve robust 3D formation flight of the multi-UAV system.
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Submitted on : Tuesday, January 16, 2018 - 11:57:29 AM
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Xianbo Xiang, Chao Liu, Hongsheng Su, Qin Zhang. On decentralized adaptive full-order sliding mode control of multiple UAVs. ISA Transactions, Elsevier, 2017, 71 (Part 2), pp.196-205. ⟨10.1016/j.isatra.2017.09.008⟩. ⟨lirmm-01685296⟩



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