Guerrero-Castellanos JF, Vega-Alonzo A, Durand S, Marchand N, Gonzalez-Diaz VR, Castañeda-Camacho J, Guerrero-Sánchez WF. Leader-Following Consensus and Formation Control of VTOL-UAVs with Event-Triggered Communications
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SENSORS 2019;
19:s19245498. [PMID:
31842500 PMCID:
PMC6960889 DOI:
10.3390/s19245498]
[Citation(s) in RCA: 13] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/19/2019] [Revised: 12/05/2019] [Accepted: 12/09/2019] [Indexed: 11/20/2022]
Abstract
This article presents the design and implementation of an event-triggered control approach, applied to the leader-following consensus and formation of a group of autonomous micro-aircraft with capabilities of vertical take-off and landing (VTOL-UAVs). The control strategy is based on an inner–outer loop control approach. The inner control law stabilizes the attitude and position of one agent, whereas the outer control follows a virtual leader to achieve position consensus cooperatively through an event-triggered policy. The communication topology uses undirected and connected graphs. With such an event-triggered control, the closed-loop trajectories converge to a compact sphere, centered in the origin of the error space. Furthermore, the minimal inter-sampling time is proven to be below bounded avoiding the Zeno behavior. The formation problem addresses the group of agents to fly in a given shape configuration. The simulation and experimental results highlight the performance of the proposed control strategy.
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