INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
UAVs formation control with dynamic compensation using neuro adaptive SMC
Autor/es:
CLAUDIO ROSALES; JAVIER GIMÉNEZ; FRANCISCO ROSSOMANDO; CARLOS SORIA; MÁRIO SARCINELLI-FILHO; RICARDO CARELLI
Lugar:
Atlanta
Reunión:
Conferencia; 2019 International Conference on Unmanned Aircraft Systems (ICUAS); 2019
Institución organizadora:
IEEE
Resumen:
This paper proposes a neuro-adaptive controllerevolving in a sub-actuated formation. A formation controllerbased on the null space approach is defined to obtain thereferences for local controllers for each one of the quadrotorsdefined to the transportation task. Formation controller takesinto account the transport of a cable-suspended load with twoquadrotors considering collision avoidance, wind perturbations,and proper distribution of the load weight. A neuro-adaptivesliding mode control (SMC) controller is defined with theobjective to achieve the references obtained by the formationcontroller. These adjustment laws were obtained through theLyapunov stability criterion. Finally, numerical simulationshows the excellent performance of the proposed technique fortrajectory tracking tasks in unknown navigation environment.
