Abstract
This paper addresses the problem of time-coordination of a team of cooperating multirotor unmanned aerial vehicles that exchange information over a supporting time-varying network. A distributed control law is developed to ensure that the vehicles meet the desired temporal assignments of the mission, while flying along predefined collision-free paths, even in the presence of faulty communication networks, temporary link losses, and switching topologies. In this paper, the coordination task is solved by reaching consensus on a suitably defined coordination state. Conditions are derived under which the coordination errors converge to a neighborhood of zero. Simulation and flight test results are presented to validate the theoretical findings.
Original language | English (US) |
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Article number | 7065327 |
Pages (from-to) | 945-957 |
Number of pages | 13 |
Journal | IEEE Transactions on Automation Science and Engineering |
Volume | 12 |
Issue number | 3 |
DOIs | |
State | Published - Jul 1 2015 |
Keywords
- Consensus algorithms
- networked systems
- time-coordinated path following
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering