Robust Sliding Mode Protocols for Formation of Quadcopter Swarm

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 IEEEControl 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 ElectricalInfrastructure 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 patchantenna, 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.

• Introduction.- Preliminaries of Sliding Mode Control, Graph Theory, and Multi-agent System.- Design of Continuous-time Sliding Mode Protocol for Formation of 6-DOF Quadcopter Swarm.- Design of Discrete-time Sliding Mode Protocol for Formation of 6-DOF Quadcopter Swarm.- Design of Discrete-time Higher-order Sliding Mode Protocol for Formation of 6-DOF Quadcopter Swarm.