UAVs formation control with dynamic compensation using neuro adaptive SMC

GIMENEZ, JAVIER; SARCINELLI MARIO FILHO; ROSALES CLAUDIO D.; SORIA, CARLOS MIGUEL; ROSSOMANDO, FRANCISCO G.; CARELLI, RICARDO

Atlanta,GA, EEUU

Congreso; 2019 IEEE International Conference on Unmanned Aircraft Systems; 2019

IEEE

This paper proposes a neuro-adaptive controller evolving in a sub-actuated formation. A formation controllerbased on the null space approach is defined to obtain the references for local controllers for each one of the quadrotors defined to the transportation task. Formation controller takes into account the transport of a cable-suspended load with two quadrotors considering collision avoidance, wind perturbations, and proper distribution of the load weight. A neuro-adaptive sliding mode control (SMC) controller is defined with the objective to achieve the references obtained by the formation controller. These adjustment laws were obtained through theLyapunov stability criterion. Finally, numerical simulation shows the excellent performance of the proposed technique for trajectory tracking tasks in unknown navigation environment.