Robust Continuous Sliding-Mode Control for Motion Coordination of a Team of Quad-Rotors

In this paper the problem of motion coordination for a multi-agent system composed of a group of Quad-Rotors, under the leader-follower scheme, is addressed. The proposed control strategy is considered as a decentralized scheme and is composed of cascaded continuous sliding-modes controllers (SMCs). By means of this approach, the Quad-Rotors are able to robustly form a geometric pattern in order to track a desired trajectory despite the presence of bounded unknown inputs. The proposed control strategy provides uniform finite-time stability and uniform exponential stability for the corresponding tracking and formation errors. Numerical simulations illustrate the performance of the proposed control strategy.