@inproceedings{7eb34fb9cbed42f6a5ddc0e55331eca6,
title = "RISE-based robust formation control for multi-UAV system",
abstract = "This paper deals with a robust formation control methodology for the Multi-UAV system with uncertain exogenous disturbance. The fourth-order UAV model with disturbance and the disturbance estimate system is introduced. In order to achieve the rigid formation fight, graph theory and consensus algorithm are utilized and the state of the UAVs converges to desired value by using Leader-Follower structure. The proposed control law includes the Robust Integral of the Sign of error (RISE) for estimation of the disturbance and also involves collision avoidance property based on potential method. The stability and convergent properties are proven based on Lyapunov theory. Finally, several simulation results show the effectiveness of the proposed method compared with a conventional sliding mode control.",
keywords = "Consensus, Formation Control, Multi-Agent System, RISE, Robust control",
author = "Yu Komagine and Ryo Toyota and Kento Kotani and Toru Namerikawa",
note = "Publisher Copyright: {\textcopyright} 2017 The Society of Instrument and Control Engineers - SICE.; 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 ; Conference date: 19-09-2017 Through 22-09-2017",
year = "2017",
month = nov,
day = "10",
doi = "10.23919/SICE.2017.8105456",
language = "English",
series = "2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "880--885",
booktitle = "2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017",
}