TY - JOUR
T1 - Disturbance compensation by RISE for cooperative transport system with multiple quad-rotor
AU - Kotani, Kento
AU - Namerikawa, Toru
N1 - Publisher Copyright:
© 2019 The Institute of Electrical Engineers of Japan.
PY - 2019
Y1 - 2019
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 -