Disturbance Compensation by RISE for Cooperative Transport System with Multiple Quad-rotor
Kento Kotani, Toru Namerikawa · IEEJ Transactions on Electronics Information and Systems · 2019
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.