Self-Triggered Cooperative Path Following Control of Fixed Wing Unmanned Aerial Vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2017

Authors

Jain, RP (Author) Other; Aguiar, AP (Author) FEUP; João Tasso Sousa (Author) FEUP

Conference proceedings International

Title: 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017

Pages: 1231-1240

2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017

13 June 2017 through 16 June 2017

Indexing

ISI Web of Knowledge - 5 Citations

Scopus - 7 Citations

Other information

Authenticus ID: P-00N-9QY

DOI: 10.1109/icuas.2017.7991375

Abstract (EN): Formation control of multi-robot system may involve extensive inter-robot information exchange. This paper proposes a methodology to reduce the frequency of information exchange in a formation control problem through the use of a self-triggered control strategy for cooperative path following (CPF) problems. In particular, a decentralized, self-triggered CPF controller is developed for fixed-wing Unmanned Aerial Vehicles, where the vehicles are tasked to follow desired geometric paths and keeping a desired formation pattern. Using the Input-to-State Stability framework, we provide guarantees of stability and convergence in the presence of event-based communication. Simulation results are provided to illustrate the efficacy of the developed strategy. It is shown that the self-triggered approach results in significant reduction of information exchange when compared to the conventional time-triggered (periodic) implementation.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 10