Viviana Moya, V. Espinosa, D. Chávez, P. Leica, O. Camacho
{"title":"Trajectory tracking for quadcopter's formation with two control strategies","authors":"Viviana Moya, V. Espinosa, D. Chávez, P. Leica, O. Camacho","doi":"10.1109/ETCM.2016.7750839","DOIUrl":null,"url":null,"abstract":"The aim of this paper is to analyze the performance through the ISE index between the two techniques SMC and PD control for quadcopters formation based on a virtual structure by establishing geometrical relationships between the virtual leader (centroid) and quadcopters located in each vertex. The controllers are used for stabilization and trajectory tracking. To analyze the stability, the direct method of Lyapunov is used.","PeriodicalId":6480,"journal":{"name":"2016 IEEE Ecuador Technical Chapters Meeting (ETCM)","volume":"18 1","pages":"1-6"},"PeriodicalIF":0.0000,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE Ecuador Technical Chapters Meeting (ETCM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ETCM.2016.7750839","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 8
Abstract
The aim of this paper is to analyze the performance through the ISE index between the two techniques SMC and PD control for quadcopters formation based on a virtual structure by establishing geometrical relationships between the virtual leader (centroid) and quadcopters located in each vertex. The controllers are used for stabilization and trajectory tracking. To analyze the stability, the direct method of Lyapunov is used.
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