Adaptive Fixed Time Nonsingular Terminal Sliding-Mode Control for Quadrotor Formation With Obstacle and Inter-Quadrotor Avoidance
نویسندگان
چکیده
In this paper, a robust and safety distributed formation control with unknown external disturbances is researched. For multi-quadrotors system, novel nonsingular terminal sliding mode strategy studied to realize the collision avoidance inter-quadrotor avoidance. The controller redesigned once system reaches small field of surface solve existence singular quadrotor fixed time convergence singularity region. Then, position attitude are designed maintain configuration track desired angular rate disturbances, respectively. global verified by Lyapunov theory characteristic region At last, simulation results presented demonstrate efficiency developed algorithm.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2021
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2021.3074316