Sliding mode leader following control for autonomous air robots

Author

Soleymani, Touraj ; Saghafi, Fariborz

Author_Institution

Dept. of Aerosp. Eng., Sharif Univ. of Technol., Tehran, Iran

fYear

2011

fDate

20-22 Dec. 2011

Firstpage

972

Lastpage

977

Abstract

In this paper, we propose a leader following control for autonomous air robots. The separated design strategy with kinematic acceleration commands is used. The location of the robot with respect to the leader is specified by a range and two angles. We obtain the kinematic model of the system represented by the state-space equations. The controller is designed based on the sliding mode control which asymptotically stabilizes the tracking errors in presence of uncertainties and disturbances. In order to implement the leader following controller in the air robots, a control system is introduced which converts the acceleration commands to the actuator commands. Simulations are provided to show the performance of the leader following control.

Keywords

acceleration control; actuators; aerospace robotics; asymptotic stability; control system synthesis; mobile robots; motion control; robot kinematics; state-space methods; tracking; variable structure systems; actuator commands; asymptotic stability; autonomous air robots; control system; controller design; kinematic acceleration commands; kinematic model; robot location; separated design strategy; sliding mode leader following control; state-space equations; tracking errors; Acceleration; Equations; Kinematics; Robots; Sliding mode control; Vehicles; Air refueling; autonomous air robots; formation flight; leader following; sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration (SII), 2011 IEEE/SICE International Symposium on

Conference_Location

Kyoto

Print_ISBN

978-1-4577-1523-5

Type

conf

DOI

10.1109/SII.2011.6147581

Filename

6147581