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Planar manipulation of an object by unmanned aerial vehicles using sliding modes

Rao, S and Chakravarthy, A and Ghose, D (2021) Planar manipulation of an object by unmanned aerial vehicles using sliding modes. In: Journal of Guidance, Control, and Dynamics, 44 (1). pp. 120-137.

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Official URL: https://doi.org/10.2514/1.G005098


Enabling a team of unmanned aerial vehicles (UAVs) to cooperate and perform tasks collaboratively is a challenging problem. In this paper, sliding-mode-based collaborative maneuvering strategies are developed for a pair of UAVs moving on a two-dimensional plane and carrying a rigid payload. Such strategies are apt for applications such as payload delivery, where the 2-UAV system has to interact with either a stationary or a maneuvering platform. The strategies are designed using the concept of nonsingular terminal sliding mode and a kinematics-based formulation of interaction between the 2-UAV system and a point on the platform. The strategies enable the 2-UAV system to track the maneuvering platform and deliver the payload to the platform from any angle, within a finite-time interval. In addition, the maneuvering strategies also include a controller so that the payload can be oriented to a desired angle. These strategies are then generalized, using the concept of collision cones, to scenarios where the payload is to be delivered to within a region on the platform, rather than to a point. © AIAA International. All rights reserved.

Item Type: Journal Article
Publication: Journal of Guidance, Control, and Dynamics
Publisher: AIAA International
Additional Information: Copyright to this article belongs to AIAA International
Keywords: Antennas; Unmanned aerial vehicles (UAV), Desired angles; Finite time intervals; Non-singular terminal sliding modes; Sliding modes; Two dimensional plane, Maneuverability
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 12 Feb 2021 10:42
Last Modified: 25 Jan 2023 12:24
URI: https://eprints.iisc.ac.in/id/eprint/67517

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