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.
Highlights
This section aims to introduce the reader to the context of cyber-physical systems and the networks of Unmanned Aerial Vehicles (UAVs)
We aim to show to the reader how to combine and applied topics such as multi-UAVs, event-triggered control, and distributive control
This work presented an event-triggered distributive control strategy to give a solution to the problem of consensus and formation of a collection of VTOL-UAVs
Summary
This section aims to introduce the reader to the context of cyber-physical systems and the networks of Unmanned Aerial Vehicles (UAVs). Cyber-physical systems (CPSs) integrate computer-based functions, like computing and networking, with physical components. In these systems, software and hardware are deeply interconnected. Each section operates at different spatial and temporal scales with different and multiple behaviors, interacting with each other in many ways that change with context. The applications include transportation systems, automation, security, smart cities, medical monitoring, agriculture, military operations, process control, or robotics [3]. A special collection of CPSs is the cyber-physical vehicle systems (CPVSs), which comprise terrestrial, underwater, and flying vehicles [4,5,6,7].
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