Disturbance compensation by RISE for cooperative transport system with multiple quad-rotor

Kento Kotani, Toru Namerikawa

Research output: Contribution to journalArticle

Abstract

In this paper, we propose a novel control method which combine collision avoidance method and RISE(Robust Integral of the Sign of Error) for multiple Quad-rotor formation control methods for cooperative control, and confirm effectiveness of this method by experiment using actual Quad-rotor. First, this work describes a method to suppress nonlinear disturbance using RISE which is a type of sliding mode control. In addition, collision avoidance method and the conditions to achieve accurate formation are explained. Finally, the effectiveness of proposed method is confirmed functioning correctly, by implemented an algorithm in the actual Quad-rotor

Original languageEnglish
Pages (from-to)341-349
Number of pages9
JournalIEEJ Transactions on Electronics, Information and Systems
Volume139
Issue number4
DOIs
Publication statusPublished - 2019 Jan 1

Fingerprint

Rotors
Collision avoidance
Sliding mode control
Compensation and Redress
Experiments

Keywords

  • Concensus algorism
  • Cooperative transport
  • Disturbance estimation
  • Multi-agent system
  • Quad-rotor

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Disturbance compensation by RISE for cooperative transport system with multiple quad-rotor. / Kotani, Kento; Namerikawa, Toru.

In: IEEJ Transactions on Electronics, Information and Systems, Vol. 139, No. 4, 01.01.2019, p. 341-349.

Research output: Contribution to journalArticle

@article{8c0866cb0d8e4b75878aaa1abd463950,
title = "Disturbance compensation by RISE for cooperative transport system with multiple quad-rotor",
abstract = "In this paper, we propose a novel control method which combine collision avoidance method and RISE(Robust Integral of the Sign of Error) for multiple Quad-rotor formation control methods for cooperative control, and confirm effectiveness of this method by experiment using actual Quad-rotor. First, this work describes a method to suppress nonlinear disturbance using RISE which is a type of sliding mode control. In addition, collision avoidance method and the conditions to achieve accurate formation are explained. Finally, the effectiveness of proposed method is confirmed functioning correctly, by implemented an algorithm in the actual Quad-rotor",
keywords = "Concensus algorism, Cooperative transport, Disturbance estimation, Multi-agent system, Quad-rotor",
author = "Kento Kotani and Toru Namerikawa",
year = "2019",
month = "1",
day = "1",
doi = "10.1541/ieejeiss.139.341",
language = "English",
volume = "139",
pages = "341--349",
journal = "IEEJ Transactions on Electronics, Information and Systems",
issn = "0385-4221",
publisher = "The Institute of Electrical Engineers of Japan",
number = "4",

}

TY - JOUR

T1 - Disturbance compensation by RISE for cooperative transport system with multiple quad-rotor

AU - Kotani, Kento

AU - Namerikawa, Toru

PY - 2019/1/1

Y1 - 2019/1/1

N2 - In this paper, we propose a novel control method which combine collision avoidance method and RISE(Robust Integral of the Sign of Error) for multiple Quad-rotor formation control methods for cooperative control, and confirm effectiveness of this method by experiment using actual Quad-rotor. First, this work describes a method to suppress nonlinear disturbance using RISE which is a type of sliding mode control. In addition, collision avoidance method and the conditions to achieve accurate formation are explained. Finally, the effectiveness of proposed method is confirmed functioning correctly, by implemented an algorithm in the actual Quad-rotor

AB - In this paper, we propose a novel control method which combine collision avoidance method and RISE(Robust Integral of the Sign of Error) for multiple Quad-rotor formation control methods for cooperative control, and confirm effectiveness of this method by experiment using actual Quad-rotor. First, this work describes a method to suppress nonlinear disturbance using RISE which is a type of sliding mode control. In addition, collision avoidance method and the conditions to achieve accurate formation are explained. Finally, the effectiveness of proposed method is confirmed functioning correctly, by implemented an algorithm in the actual Quad-rotor

KW - Concensus algorism

KW - Cooperative transport

KW - Disturbance estimation

KW - Multi-agent system

KW - Quad-rotor

UR - http://www.scopus.com/inward/record.url?scp=85063757272&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85063757272&partnerID=8YFLogxK

U2 - 10.1541/ieejeiss.139.341

DO - 10.1541/ieejeiss.139.341

M3 - Article

AN - SCOPUS:85063757272

VL - 139

SP - 341

EP - 349

JO - IEEJ Transactions on Electronics, Information and Systems

JF - IEEJ Transactions on Electronics, Information and Systems

SN - 0385-4221

IS - 4

ER -