@proceedings {426,
	title = {Robust Adaptive Tracking Synchronization Protocols for Leader-Follower Multirotor Aerial Vehicles with Uncertainty},
	year = {2019},
	month = {11/2019},
	publisher = {IEEE},
	address = {Italy},
	abstract = { This   paper  develops  robust   adaptive  tracking synchronization protocol for a group of cloud connected leader-follower  multirotor  aerial  vehicles  (MAVs)  with  uncertainty. The design combines adaptive learning mechanism with sliding mode control vectors to solve consensus tracking synchroniza-tion  problem  for  both  attitude  and  position  dynamics.  The protocols are constructed by using local and neighboring states of  the  vehicles  provided  that  the  vehicles  can  share  states information with  neighboring vehicles via local area network. Adaptive learning algorithms are used locally for each vehicle to  deal  with  uncertainty  associated  with  nonlinear  dynamics and uncertain flying environment. Lyapunov and sliding mode control method is employed to design and analyze asymptotic convergence  of  the  consensus  tracking  error  functions.  The convergence  analysis  shows  that  the  states  of  the  follower vehicles can reach an agreement and synchronize to the leader vehicle achieving  ensuring tracking synchronization property. The  protocols  design  and  implementation  is  simple  as  they do  not  require  exact  knowledge of  the  dynamical  model  and uncertainty. 

},
	doi = {10.1109/SMC.2019.8914373},
	author = {Shafiqul Islam and Abdulmotaleb El Saddik and Anderson Sunda-Meya}
}
