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Sliding mode leader following control for autonomous air robots

Soleymani, T ; Sharif University of Technology | 2011

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  1. Type of Document: Article
  2. DOI: 10.1109/SII.2011.6147581
  3. Publisher: 2011
  4. Abstract:
  5. 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 the performance of the leader following control
  6. Keywords:
  7. Autonomous air robots ; Air refueling ; Design strategies ; Formation flight ; Kinematic model ; Leader following ; Leader following controls ; Sliding modes ; State space equation ; Tracking errors ; Controllers ; Flight control systems ; Kinematics ; Sliding mode control ; Robots
  8. Source: 2011 IEEE/SICE International Symposium on System Integration, SII 2011, 20 December 2011 through 22 December 2011 ; December , 2011 , Pages 972-977 ; 9781457715235 (ISBN)
  9. URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6147581