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dc.contributor.authorCordeiro, Thiago Fellipe Kurudez-
dc.contributor.authorIshihara, João Yoshiyuki-
dc.contributor.authorFerreira, Henrique Cezar-
dc.identifier.citationCORDEIRO, Thiago F. K; ISHIHARA, João Y.; FERREIRA, Henrique C. A decentralized low-chattering sliding mode formation flight controller for a swarm of UAVs. Sensors, v. 20, n. 11, 3094, 2020. DOI: Disponível em: Acesso em: 24 jul. 2020.pt_BR
dc.rightsAcesso Abertopt_BR
dc.titleA decentralized low-chattering sliding mode formation flight controller for a swarm of UAVspt_BR
dc.subject.keywordVeículos aéreos não tripuladospt_BR
dc.subject.keywordControladores para voopt_BR
dc.rights.licenseⓒ 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (
dc.description.abstract1In this paper, a nonlinear robust formation flight controller for a swarm of unmanned aerial vehicles (UAVs) is presented. It is based on the virtual leader approach and is capable of achieving and maintaining a formation with time-varying shape. By using a decentralized architecture, the local controller in each UAV uses information only from the UAV itself, its neighbors, and from the virtual leader. Also, a synchronization control objective provides a mechanism to weight between the fleet achieving the desired formation shape, that is, achieving the desired relative position between the UAVs, and each UAV achieving its desired absolute position. The use of a combination of a sliding mode controller and a low pass filter reduces the usual chattering effect, providing a smooth control signal while maintaining robustness. Simulation results show the effectiveness of the proposed decentralized controller.pt_BR
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