Robust sliding mode protocols for formation of quadcopter swarm (Q6610097)

This monograph includes two kinds of protocols of the Quadcopter swarm namely, continuous-time sliding mode protocols and discrete-time sliding mode protocols. The continuous-time higher order sliding mode protocols use super-twisting algorithms and are projected for employing linear and non-linear models of Quadcopter. Discrete-time sliding mode protocols use the power rate reaching law, the discrete-time super-twisting algorithm, and the exponential reaching law. The thorough analysis of protocols highlights robustness, chattering, control effort, and convergence time for achieving the formation. These issues are developed in the following seven chapters. Chapter 1 gives a brief introduction about the 6 degree of freedom Quadcopter, and a literature review on the protocols for Quadcopter swarm in the continuous-time and discrete-time domain. Chapter 2 details information about the Multi-Agent System concept, graph theory and the sliding mode control technique which are used to derive formation protocols in continuous time and discrete time domain. Chapter 3 provides design details on continuous-time sliding mode formation protocols for Quadcopter swarm using linear and nonlinear Quadcopter model. Chapter 4 exposes design details on discrete-time sliding mode protocol for the formation of Quadcopter swarm. It is based on power rate reaching law and compared with the classical formation protocol developed using Gao's reaching law. This also comprises the number of steps required to achieve the formation. Chapter 5 presents design details of discrete-time second order sliding mode protocol using discrete-time super-twisting protocol for the formation of Quadcopter swarm. This decreases the Quasi sliding mode band and increases the convergence time of the formation of discrete Multi-Agent System. The results of this protocol are compared with the first-order discrete-time sliding mode protocols designed using \textit{W. Gao}'s reaching law [IEEE Trans. Indust. Electro. 42, No. 2, 117--122 (1995; \url{doi:10.1109/41.370376}] and \textit{A. Bartoszewicz}'s reaching law [IEEE Trans. Indust. Electro. 45, No. 4, 633--637 (1998; \url{doi:10.1109/41.704892})] in order to show its efficacy. Chapter 6 describes the design of a discrete-time sliding mode protocol based on a new exponential reaching law for Quadcopter swarm formation along with the number of steps required to perform the formation and Lyapunov stability analysis. Chapter 7 presents a summary of the main findings and the future research possibilities. This book is a useful source of information to graduate students, researchers, and professionals working in the domain of drone technology.