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Robust sliding mode protocols for formation of quadcopter swarm

Record Type:	Electronic resources : Monograph/item
Title/Author:	Robust sliding mode protocols for formation of quadcopter swarm/ by Axaykumar Mehta, Akash Modi.
Author:	Mehta, Axaykumar.
other author:	Modi, Akash.
Published:	Singapore :Springer Nature Singapore : : 2024.,
Description:	xxv, 147 p. :ill. (some col.), digital ;24 cm.
[NT 15003449]:	Introduction -- Preliminaries of Sliding Mode Control, Graph Theory, and Multi-agent System -- Design of Continuous-time Sliding Mode Protocol for Formation of 6-DOF Quadcopter Swarm -- Design of Discrete-time Sliding Mode Protocol for Formation of 6-DOF Quadcopter Swarm -- Design of Discrete-time Higher-order Sliding Mode Protocol for Formation of 6-DOF Quadcopter Swarm.
Contained By:	Springer Nature eBook
Subject:	Sliding mode control -
Online resource:	https://doi.org/10.1007/978-981-99-9726-8
ISBN:	9789819997268

Robust sliding mode protocols for formation of quadcopter swarm
Mehta, Axaykumar.

Robust sliding mode protocols for formation of quadcopter swarm[electronic resource] /by Axaykumar Mehta, Akash Modi. - Singapore :Springer Nature Singapore :2024. - xxv, 147 p. :ill. (some col.), digital ;24 cm. - Studies in systems, decision and control,v. 5212198-4190 ;. - Studies in systems, decision and control ;v. 521..

Introduction -- Preliminaries of Sliding Mode Control, Graph Theory, and Multi-agent System -- Design of Continuous-time Sliding Mode Protocol for Formation of 6-DOF Quadcopter Swarm -- Design of Discrete-time Sliding Mode Protocol for Formation of 6-DOF Quadcopter Swarm -- Design of Discrete-time Higher-order Sliding Mode Protocol for Formation of 6-DOF Quadcopter Swarm.

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 efficacy of each protocol. The book will be useful to graduate students, research scholars, and professionals working in the domain of civilian and military usage of the drone technology.

ISBN: 9789819997268

Standard No.: 10.1007/978-981-99-9726-8doiSubjects--Topical Terms:

3713544
Sliding mode control

LC Class. No.: TJ220.5

Dewey Class. No.: 629.8

Robust sliding mode protocols for formation of quadcopter swarm
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245 1 0 $a Robust sliding mode protocols for formation of quadcopter swarm $h [electronic resource] / $c by Axaykumar Mehta, Akash Modi.
260 $a Singapore : $b Springer Nature Singapore : $b Imprint: Springer, $c 2024.
300 $a xxv, 147 p. : $b ill. (some col.), digital ; $c 24 cm.
490 1 $a Studies in systems, decision and control, $x 2198-4190 ; $v v. 521
505 0 $a Introduction -- Preliminaries of Sliding Mode Control, Graph Theory, and Multi-agent System -- Design of Continuous-time Sliding Mode Protocol for Formation of 6-DOF Quadcopter Swarm -- Design of Discrete-time Sliding Mode Protocol for Formation of 6-DOF Quadcopter Swarm -- Design of Discrete-time Higher-order Sliding Mode Protocol for Formation of 6-DOF Quadcopter Swarm.
520 $a 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 efficacy of each protocol. The book will be useful to graduate students, research scholars, and professionals working in the domain of civilian and military usage of the drone technology.
650 0 $a Sliding mode control $3 3713544
650 0 $a Drone aircraft $x Control. $3 3713545
650 0 $a Swarming (Military science) $3 3713546
650 1 4 $a Control and Systems Theory. $3 3381515
650 2 4 $a Algorithms. $3 536374
650 2 4 $a Electrical and Electronic Engineering. $3 3591890
700 1 $a Modi, Akash. $3 3713542
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773 0 $t Springer Nature eBook
830 0 $a Studies in systems, decision and control ; $v v. 521. $3 3713543
856 4 0 $u https://doi.org/10.1007/978-981-99-9726-8
950 $a Intelligent Technologies and Robotics (SpringerNature-42732)