Robust Sliding Mode Protocols for Formation of Quadcopter Swarm
暫譯: 穩健的滑模協議於四旋翼群體的編隊形成

Mehta, Axaykumar, Modi, Akash

Robust Sliding Mode Protocols for Formation of Quadcopter Swarm
  • 出版商: Springer
  • 出版日期: 2025-04-02
  • 售價: $5,600
  • 貴賓價: 9.5 折 $5,320
  • 語言: 英文
  • 頁數: 147
  • 裝訂: Quality Paper - also called trade paper
  • ISBN: 9819997283
  • ISBN-13: 9789819997282

    • 海外代購書籍(需單獨結帳)

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商品描述

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.

商品描述(中文翻譯)

本書介紹了幾種穩健的滑模協議，以實現四旋翼無人機群的形成和跟蹤特定模式。在整本書中，利用多代理系統的領導者-跟隨者形成控制概念來推導協議，並使用圖論來表示四旋翼之間的通信。本書涵蓋了兩種類型的四旋翼無人機群形成協議，即連續時間滑模協議和離散時間滑模協議。首先，設計了使用超扭轉算法的連續時間高階滑模協議，以線性和非線性模型的四旋翼進行形成。然後，介紹了使用功率速率到達法、離散時間超扭轉算法和指數到達法的離散時間滑模協議。這些協議在穩健性、顫動、控制努力和收斂時間方面進行了徹底分析，以實現形成。此外，還推導了使用李雅普諾夫函數的穩定性條件，以確保每個協議下群體的穩定性。此外，每章包括廣泛的模擬和比較研究，以顯示每個協議的有效性。本書將對研究生、研究學者以及從事民用和軍用無人機技術領域的專業人士有所幫助。

作者簡介

Dr. Axaykumar Mehta received B.E. Electrical Engineering (1996), degree from LD College of Engineering Ahmedabad, M.Tech. in Control Systems (2002) from IIT Kharagpur, and Ph.D. (2009) from IIT Bombay in systems and control engineering. Currently, he is acting as an Associate Professor in Electrical and Computer Science Engineering and as an Associate Dean (R&D) at Institute of Infrastructure, Technology,

Research and Management (IITRAM), Ahmedabad, India. Earlier, he has acted as a Director at Gujarat Power Engineering and Research Institute, Gujarat, India, an Associate faculty at Indian Institute of Technology Gandhinagar, visiting professor at Institute of Automatic Control, Lodz University of Technology, Poland and a Research Associate at University of Cagliari, Italy. His research interests are sliding mode control, networked control and control of multi-agent systems and their applications to robotics, aerial vehicles, microgrid etc... He has published several researchpapers in reputed peer reviewed journals, and conference proceedings. He has contributed 4 monographs, 1 editorial book, and 3 conference proceedings on the research topics with Springer Nature Singapore. He is member of Technical Committee on Variable Structure and Sliding Mode Control under the aegis of IEEE

Control System Society, Fellow member - Institute of Engineers (I), Senior member - IEEE, IEEE Industrial Electronics Society (IES), IEEE Control System Society, Life member of Indian Society for Technical Education (ISTE), and Systems Society of India (SSI). He is also recognized as a Chartered Engineer in Electrical Engineering by the Institute of Engineers (I).


Akash Modi received his B.Tech.(2021) in Electrical Engineering, and M.Tech.(2023) in Electrical

Infrastructure from Institute of Infrastructure, Technology, Research and Management (IITRAM), Ahmedabad, India. His current research interests are distributed sliding mode control, and control of multi-agent system and their applications. He has also worked in the area of design the microstrip patch

antenna, multi-layer antenna, and re-configurable array antenna for IRNSS, GPS, WiFi, and satellite communication applications. He has published a few research papers on the research topic with reputed publishers. He has received an Undergraduate Research Award-2 (URA-2) from the IITRAM in 2021.

作者簡介(中文翻譯)

Dr. Axaykumar Mehta 於 1996 年獲得印度艾哈邁達巴德 LD 工程學院的電機工程學士學位，於 2002 年在印度卡哈拉格普爾的印度理工學院獲得控制系統碩士學位，並於 2009 年在印度孟買的印度理工學院獲得系統與控制工程博士學位。目前，他擔任印度艾哈邁達巴德基礎設施、技術、研究與管理學院（IITRAM）電機與計算機科學工程的副教授及副院長（研發）。他曾擔任印度古吉拉特邦古吉拉特電力工程與研究院的主任，印度理工學院甘地納格爾的副教授，波蘭羅茲科技大學自動控制學院的訪問教授，以及意大利卡利亞里的研究助理。他的研究興趣包括滑模控制、網絡控制以及多智能體系統的控制及其在機器人、空中載具、微電網等方面的應用。他在多本知名的同行評審期刊和會議論文集中發表了多篇研究論文，並與新加坡 Springer Nature 出版了 4 本專著、1 本編輯書籍和 3 本會議論文集。他是 IEEE 控制系統學會可變結構與滑模控制技術委員會的成員，並且是工程師學會（I）的研究員會員、IEEE 的高級會員、IEEE 工業電子學會（IES）、IEEE 控制系統學會的成員，印度技術教育學會（ISTE）和印度系統學會（SSI）的終身會員。他也被工程師學會（I）認證為電機工程的特許工程師。

Akash Modi 於 2021 年獲得電機工程的 B.Tech. 學位，並於 2023 年在印度艾哈邁達巴德的基礎設施、技術、研究與管理學院（IITRAM）獲得電氣基礎設施的 M.Tech. 學位。他目前的研究興趣包括分佈式滑模控制和多智能體系統的控制及其應用。他還曾在設計微帶貼片天線、多層天線和可重構陣列天線方面工作，這些天線應用於 IRNSS、GPS、WiFi 和衛星通信。他在該研究主題上與知名出版商發表了幾篇研究論文，並於 2021 年獲得 IITRAM 的本科生研究獎-2（URA-2）。

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