Distributed integral control of multiple UAVs: precise flocking and navigation
Zavala Río, Arturo
"The authors interest in this work is to perform a precise real-time flocking of multiple unmanned aerial vehicles (UAVs). A consensus-based flocking algorithm that ensures a precise security distance between UAVs is proposed. By using Lyapunov theoretical analysis, the authors propose a flocking algorithm that ensures the ultimate boundedness of multiple-UAV system solutions. Moreover, this algorithm is enhanced by a distributed integral control that renders the inter-distances between UAVs more precise. Finally, experimental results are provided to prove and show the efficiency of these algorithms."
Knowledge areaINGENIERÍA Y TECNOLOGÍA
PublisherThe Institution of Engineering and Technology
Autonomous aerial vehicles
Control system synthesis
Distributed integral control
Multiple unmanned aerial vehicles
Consensus-based flocking algorithm
Precise security distance
Lyapunov theoretical analysis
Multiple-UAV system solutions
CitationSaif, Osamah; Fantoni, Isabelle; Zavala-Río, Arturo: 'Distributed integral control of multiple UAVs: precise flocking and navigation', IET Control Theory & Applications, 2019, 13, (13), p. 2008-2017, DOI: 10.1049/iet-cta.2018.5684 IET Digital Library, https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.5684
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Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internacional
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