Title :
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
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;
Conference_Titel :
System Integration (SII), 2011 IEEE/SICE International Symposium on
Conference_Location :
Kyoto
Print_ISBN :
978-1-4577-1523-5
DOI :
10.1109/SII.2011.6147581
