Circumnavigation of UAVs integrating QP-Based CLF and CBF in a Cooperative Path-Following Framework

• Type: Article in International Conference Proceedings Book
• Date: 2024

Authors

Anand, P (Author) Other; Aguiar, AP (Author) FEUP; Sujit, PB (Author) Other

Conference proceedings International

Title: 63rd IEEE Conference on Decision and Control, CDC 2024, Milan, Italy, December 16-19, 2024

Pages: 6206-6211

63rd IEEE Conference on Decision and Control, CDC 2024

Milan, 16 December 2024 through 19 December 2024

Indexing

Scopus

Other information

Authenticus ID: P-018-ABP

DOI: 10.1109/cdc56724.2024.10886491

Abstract (EN): Unmanned Aerial Vehicles (UAVs) are increasingly utilized in various applications often requiring coordinated operations of multiple UAVs. Circular formation control has garnered significant attention due to its diverse relevance in many situations. In this paper, we propose a Quadratic Programming (QP) based Control Lyapunov Function (CLF) and Control Barrier Function (CBF) framework for circumnavigating stationary and moving targets for single and multiple UAVs while avoiding collision with a known obstacle. By integrating CLF and CBF constraints in a cooperative path-following framework, our approach offers robustness and scalability for complex multi-agent systems, and ensures asymptotic tracking of the target while maintaining closed-loop stability of the error dynamics and safety margins around the obstacle. Through theoretical analysis and simulation studies, we demonstrate the effectiveness and versatility of our proposed framework in challenging environments. © 2024 IEEE.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 5