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• W2024351662 startingPage "3827" @default.
• W2024351662 abstract "The decentralized formation control problem of multiple 3-degree of freedom laboratory helicopter models is studied on directed communication topologies in this paper. The laboratory helicopter models are subjected to non-linearity, under-actuated, and equipped only with angular position sensors. We present a decentralized formation controller which includes a non-linear uncertainty and disturbance estimation (UDE) term to compensate the model uncertainties and disturbances in each helicopter and from its neighborhood. The UDE consists of a second-order auxiliary system and a discontinuous term, neither the measurement of angular velocity nor its asymptotic estimation is required. Convergence of the formation tracking error is analyzed using invariance-like theorems. It is also proved that the UDE term will converge to the actual uncertainties and disturbances. Simulation results show that, on a one-way communication topology which only contains one spanning tree, a group of four helicopters reaches the desired formation shape while tracking a given reference trajectory using proposed method." @default.
• W2024351662 created "2016-06-24" @default.
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• W2024351662 date "2015-09-01" @default.
• W2024351662 modified "2023-09-29" @default.
• W2024351662 title "Decentralized output-feedback formation control of multiple 3-DOF laboratory helicopters" @default.
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• W2024351662 doi "https://doi.org/10.1016/j.jfranklin.2014.11.023" @default.
• W2024351662 hasPublicationYear "2015" @default.
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