Leader-follower robust formation control for Quad-Rotors via continuous sliding-modes

摘要

This paper deals with the problem of robust output regulation for a set of Quad-Rotors forming a geometric pattern. The proposed control strategy is based on sliding-modes techniques, and it is able to robustly regulate the corresponding Quad-Rotors positions and angles in the presence of some class of disturbances acting on the Quad-Rotors. The proposed regulation is composed by cascaded continuous sliding-modes controllers providing uniform finite-time stability and uniform exponential stability for the corresponding QuadRotors positions. Simulation results illustrate the feasibility of the proposed strategy.