Robust decentralized switching control of UAVs using UWB-based localization and cooperation

Joao P. Jansch-Porto; Geir E. Dullerud

doi:10.1016/j.ifacol.2020.12.1281

Robust decentralized switching control of UAVs using UWB-based localization and cooperation

Research output: Contribution to journal › Conference article › peer-review

Abstract

In this paper, we implement a switched decentralized controller, along with a proposed communication protocol, to control a nested multi-agent system without the need for a centralized processing node. More specifically, we apply a recently developed method for switched systems synthesis, which gives exact conditions for existence of a block-lower triangular path-dependent controller with l₂-induced norm performance. The synthesis conditions are given in the form of a semidefinite program (SDP), which is computed offline for a predefined switching sequence. Each robot is equipped with a ultra-wideband (UWB) unit, which allows it to both estimate its position and communicate with other robots.

Original language	English (US)
Pages (from-to)	7418-7423
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	53
Issue number	2
DOIs	https://doi.org/10.1016/j.ifacol.2020.12.1281
State	Published - 2020
Event	21st IFAC World Congress 2020 - Berlin, Germany Duration: Jul 12 2020 → Jul 17 2020

Keywords

Control of switched systems
Decentralized control
Flying robots
Multi-vehicle systems
Networked robotic systems
Robust control applications

ASJC Scopus subject areas

Control and Systems Engineering

Online availability

10.1016/j.ifacol.2020.12.1281

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abstract = "In this paper, we implement a switched decentralized controller, along with a proposed communication protocol, to control a nested multi-agent system without the need for a centralized processing node. More specifically, we apply a recently developed method for switched systems synthesis, which gives exact conditions for existence of a block-lower triangular path-dependent controller with l2-induced norm performance. The synthesis conditions are given in the form of a semidefinite program (SDP), which is computed offline for a predefined switching sequence. Each robot is equipped with a ultra-wideband (UWB) unit, which allows it to both estimate its position and communicate with other robots.",

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author = "Jansch-Porto, {Joao P.} and Dullerud, {Geir E.}",

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AB - In this paper, we implement a switched decentralized controller, along with a proposed communication protocol, to control a nested multi-agent system without the need for a centralized processing node. More specifically, we apply a recently developed method for switched systems synthesis, which gives exact conditions for existence of a block-lower triangular path-dependent controller with l2-induced norm performance. The synthesis conditions are given in the form of a semidefinite program (SDP), which is computed offline for a predefined switching sequence. Each robot is equipped with a ultra-wideband (UWB) unit, which allows it to both estimate its position and communicate with other robots.

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KW - Multi-vehicle systems

KW - Networked robotic systems

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Robust decentralized switching control of UAVs using UWB-based localization and cooperation

Abstract

Keywords

ASJC Scopus subject areas

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