| 书目名称 | Robust Sliding Mode Protocols for Formation of Quadcopter Swarm |
| 编辑 | Axaykumar Mehta,Akash Modi |
| 视频video | |
| 概述 | Presents several robust sliding mode protocols for achieving the formation and tracking of Quadcopter swarm.Covers two types of formation protocols of the Quadcopter swarm.Includes expensive simulatio |
| 丛书名称 | Studies in Systems, Decision and Control |
| 图书封面 |  |
| 描述 | .This book presents several robust sliding mode protocols for achieving the formation and tracking of Quadcopter swarm for a given pattern. In entire book, the concept of leader-follower formation control of a multi-agent system is exploited for deriving the protocols and the graph theory is used to represent the communication between the Quadcopters. The book covers two types of formation protocols of the Quadcopter swarm namely, continuous-time sliding mode protocols and discrete-time sliding mode protocols. First, the continuous-time higher order sliding mode protocols using super-twisting algorithm are designed for formation using linear and non-linear models of Quadcopter. Then, the discrete-time sliding mode protocols using power rate reaching law, discrete-time super twisting algorithm, and exponential reaching law are presented. The protocols are thoroughly analysed for robustness, chattering, control effort, and convergence time for achieving the formation. Also, the stability conditions using the Lyapunov function are derived to ensure the stability of the swarm with each protocol. Further, each chapter includes extensive simulation and comparative studies to show the eff |
| 出版日期 | Book 2024 |
| 关键词 | Quadcopter; Swarm Intelligence; Sliding Mode Control; Multi-Agent System; Higher Order Discrete-Time; Sli |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-981-99-9726-8 |
| isbn_softcover | 978-981-99-9728-2 |
| isbn_ebook | 978-981-99-9726-8Series ISSN 2198-4182 Series E-ISSN 2198-4190 |
| issn_series | 2198-4182 |
| copyright | The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapor |
发表于 2025-3-21 17:08:35
