Abstract
This paper focuses on the problem of developing control laws to solve the Time-Coordinated 3D Path-Following task for multiple quadrotor UAVs in the presence of time-varying communication networks and spatial and temporal constraints. The objective is to enable a fleet of quadrotors to track predefined spatial paths while coordinating to achieve synchronization in both time and heading. One scenario is a symmetric exchange of position by four quadrotors initially positioned in four corners of a square room. When the mission starts, every quadrotor is required to execute collision free maneuvers and arrive at the opposite corner at the same desired instant of time. In this paper, the time-coordination task is solved by adjusting the second derivative of the coordination variable along the desired paths. Conditions are derived under which the coordination and path-following errors converge to a neighborhood of zero. Flight test results are presented to validate the theoretical findings.
| Original language | English (US) |
|---|---|
| Article number | 6425933 |
| Pages (from-to) | 1776-1781 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| DOIs | |
| State | Published - Dec 1 2012 |
| Event | 51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States Duration: Dec 10 2012 → Dec 13 2012 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization
Cite this
A Lyapunov-based approach for Time-Coordinated 3D Path-Following of multiple quadrotors. / Cichella, Venanzio; Kaminer, Isaac; Xargay, Enric; Dobrokhodov, Vladimir; Hovakimyan, Naira; Aguiar, A. Pedro; Pascoal, Antonio M.
In: Proceedings of the IEEE Conference on Decision and Control, 01.12.2012, p. 1776-1781.Research output: Contribution to journal › Conference article
}
TY - JOUR
T1 - A Lyapunov-based approach for Time-Coordinated 3D Path-Following of multiple quadrotors
AU - Cichella, Venanzio
AU - Kaminer, Isaac
AU - Xargay, Enric
AU - Dobrokhodov, Vladimir
AU - Hovakimyan, Naira
AU - Aguiar, A. Pedro
AU - Pascoal, Antonio M.
PY - 2012/12/1
Y1 - 2012/12/1
N2 - This paper focuses on the problem of developing control laws to solve the Time-Coordinated 3D Path-Following task for multiple quadrotor UAVs in the presence of time-varying communication networks and spatial and temporal constraints. The objective is to enable a fleet of quadrotors to track predefined spatial paths while coordinating to achieve synchronization in both time and heading. One scenario is a symmetric exchange of position by four quadrotors initially positioned in four corners of a square room. When the mission starts, every quadrotor is required to execute collision free maneuvers and arrive at the opposite corner at the same desired instant of time. In this paper, the time-coordination task is solved by adjusting the second derivative of the coordination variable along the desired paths. Conditions are derived under which the coordination and path-following errors converge to a neighborhood of zero. Flight test results are presented to validate the theoretical findings.
AB - This paper focuses on the problem of developing control laws to solve the Time-Coordinated 3D Path-Following task for multiple quadrotor UAVs in the presence of time-varying communication networks and spatial and temporal constraints. The objective is to enable a fleet of quadrotors to track predefined spatial paths while coordinating to achieve synchronization in both time and heading. One scenario is a symmetric exchange of position by four quadrotors initially positioned in four corners of a square room. When the mission starts, every quadrotor is required to execute collision free maneuvers and arrive at the opposite corner at the same desired instant of time. In this paper, the time-coordination task is solved by adjusting the second derivative of the coordination variable along the desired paths. Conditions are derived under which the coordination and path-following errors converge to a neighborhood of zero. Flight test results are presented to validate the theoretical findings.
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U2 - 10.1109/CDC.2012.6425933
DO - 10.1109/CDC.2012.6425933
M3 - Conference article
AN - SCOPUS:84874264080
SP - 1776
EP - 1781
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
SN - 0191-2216
M1 - 6425933
ER -