Distributed Fuzzy Adaptive Sliding Mode Formation for Nonlinear Multi-quadrotor Systems
محل انتشار: ماهنامه بین المللی مهندسی، دوره: 33، شماره: 5
سال انتشار: 1399
نوع سند: مقاله ژورنالی
زبان: انگلیسی
مشاهده: 416
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شناسه ملی سند علمی:
JR_IJE-33-5_011
تاریخ نمایه سازی: 25 خرداد 1399
چکیده مقاله:
This paper suggests a decentralized adaptive sliding mode formation procedure for affine nonlinear multi-quadrotor under a fixed directed topology wherever the followers are conquered by dynamical uncertainties. Compared with the previous studies which primarily concentrated on linear single-input single-output (SISO) agents or nonlinear agents with constant control gain, the proposed method is applied on affine nonlinear agents with nonlinear control gain such as the quadrotor. This designing procedure overcomes the problem of unknown nonlinear affine functions of the quadrotors. Fuzzy systems are engaged both to compensate recursively the unknown nonlinear functions and to apply the expert’s knowledge on the formation technique. On-line updating the controller parameters, achieving the formation of quadrotor, boundedness of all signals involved in the closed loop of the quadrotor, and chattering reduction are the focal features of the proposed formation methodology. To demonstrate the persistency and efficiency of the methodology, a numerical example of the multi-quadrotor system is considered in this paper.
کلیدواژه ها:
Adaptive Control Fuzzy System Multi ، agent System Quadrotor Sliding Mode
نویسندگان
P. Manouchehri
Department of Electrical Engineering, Islamic Azad University, Damavand Branch, Tehran, Iran
R. Ghasemi
Department of Electrical Engineering, University of Qom, Qom, Iran
A. Toloei
Department of Aerospace Engineering, Shahid Beheshti University, Tehran, Iran