Adderson, RyanRyanAddersonPan, Ya-JunYa-JunPanDr. SHEN Henghua2026-09-102026-09-102021Adderson, R., Pan, Y. J., & Shen, H. (2021). Application of sliding mode control for the formation of heterogeneous multi-agent systems. In IEEE (Ed.). The proceedings of 2021 IEEEconference on control technology and applications (CCTA). 2021 IEEE Conference on Control Technology and Applications (CCTA), San Diego, CA, USA (pp. 777-782). IEEE.978166543643497816654364412768-07702768-0762http://hdl.handle.net/20.500.11861/29386This paper proposes a fundamental sliding mode control (SMC) method for the formation of heterogeneous multi-agent systems with fixed topology and a virtual leader consisting of quadrotor unmanned aerial vehicles (UAVs) and two wheeled mobile robot (2WMR) unmanned ground vehicles (UGVs). SMC is used to direct the agents for the purposes of achieving consensus and formation in a two-dimensional environment. The stability analysis with the resultant system shows that the errors can be driven to zero. Finally, simulation results are shown to demonstrate the effectiveness of the proposed control scheme for a team of three UAVs and three UGVs. Both static and dynamic formation cases are validated with simulated studies, as well as a case with a disturbance.enHeterogeneous SystemsMulti-Agent SystemsFormation ControlSliding Mode ControlSliding ModeHeterogeneous Multi-Agent SystemsUnmanned Aerial VehiclesMobile RobotUnmanned Ground VehiclesVirtual LeaderLinear ModelAngular VelocityPitch AngleLyapunov Function CandidateSwarm RoboticsStability ProofConference Paper10.1109/CCTA48906.2021.9658832