Sharif Digital Repository

This paper studies the decentralized control of a swarm of quadrotors on the basis of the nonlinear, highly-coupled, and under-actuated dynamic model of quadcopters. The swarm of quadcopters must illustrate the desired swarm behavior as fast as possible while collision avoidance is preserved during the entire evolution process. The interaction relationship among the swarm members is modeled by artificial potential functions and according to the nearest neighbor rule. The sliding mode control technique is employed to control the velocity of quadcopters in the swarm. Finally, two fundamental swarm behaviors, i.e. swarm aggregation and leader-following, are numerically simulated to demonstrate... 

In this paper, we propose a leader following control for autonomous air robots. The separated design strategy with kinematic acceleration commands is used. The location of the robot with respect to the leader is specified by a range and two angles. We obtain the kinematic model of the system represented by the state-space equations. The controller is designed based on the sliding mode control which asymptotically stabilizes the tracking errors in presence of uncertainties and disturbances. In order to implement the leader following controller in the air robots, a control system is introduced which converts the acceleration commands to the actuator commands. Simulations are provided to show...