Formation of Quadcopter Swarm Using Distributed Exponential Discrete-Time Sliding Mode Protocol
Authors :- A Modi, N Joshi, AK Mehta
Publication :- IECON 2023-49th Annual Conference of the IEEE Industrial Electronics Society, 2023
In this paper a distributed exponential discrete-time sliding mode (DEDSM) protocol is designed for achieving the formation of Quadcopter swarm. The concept of leader-follower formation of discrete multi-agent system is exploited to design the protocol where a Quadcopter acts as an agent. The graph theory has been proposed to represent the communication between the Quadcopters. The number of steps required for achieving the formation of the Quadcopter swarm is calculated. The stability of the DMAS using the formation protocol is ensured using the Lyapunov function. The protocol is validated for the formation of five Quadcopters for the given formation pattern. Further, to show the efficacy of the formation protocol, the results are compared with the distributed discrete-time sliding mode (DDSM) designed by Gao's reaching law. From the simulation and comparative results, it is inferred that the DEDSM protocol achieves the formation not only in finite time but also it is robust against the disturbance and parameter variation. The protocol also outperforms the classical DDSM protocol with Gao's reaching law.