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Sliding Mode Control-Based Autopilots for Leaderless Consensus of Unmanned Aerial Vehicles

Rao, Sachit and Ghose, Debasish (2014) Sliding Mode Control-Based Autopilots for Leaderless Consensus of Unmanned Aerial Vehicles. In: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 22 (5). pp. 1964-1972.

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Official URL: http://dx.doi.org/ 10.1109/TCST.2013.2291784


In this brief, decentralized sliding mode controllers that enable a connected and leaderless swarm of unmanned aerial vehicles (UAVs) to reach a consensus in altitude and heading angle are presented. In addition, sliding mode control-based autopilot designs to control those states for which consensus is not required are also presented. By equipping each UAV with this combination of controllers, it can autonomously decide on being a member of the swarm or fly independently. The controllers are designed using a coupled nonlinear dynamic model, derived for the YF-22 aircraft, where the aerodynamic forces and moments are linear functions of the states and inputs.

Item Type: Journal Article
Additional Information: Copyright for this article belongs to the IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA
Keywords: Autopilot; consensus; sliding mode control (SMC); swarms; unmanned aerial vehicles (UAVs)
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Depositing User: Id for Latest eprints
Date Deposited: 12 Jan 2015 06:41
Last Modified: 12 Jan 2015 06:41
URI: http://eprints.iisc.ac.in/id/eprint/50594

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