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Distributed integral control of multiple UAVs: precise flocking and navigation

dc.contributor.authorSaif, Osamah
dc.contributor.authorFantoni, Isabelle
dc.contributor.authorZavala Río, Arturo
dc.identifier.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,
dc.description.abstract"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."
dc.publisherThe Institution of Engineering and Technology
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional
dc.subjectMobile robots
dc.subjectAutonomous aerial vehicles
dc.subjectAdaptive control
dc.subjectMulti-robot systems
dc.subjectControl system synthesis
dc.subjectLyapunov methods
dc.subjectDistributed control
dc.subjectDistributed integral control
dc.subjectPrecise flocking
dc.subjectReal-time flocking
dc.subjectMultiple unmanned aerial vehicles
dc.subjectConsensus-based flocking algorithm
dc.subjectPrecise security distance
dc.subjectLyapunov theoretical analysis
dc.subjectMultiple-UAV system solutions
dc.subject.classificationINGENIERÍA Y TECNOLOGÍA
dc.titleDistributed integral control of multiple UAVs: precise flocking and navigation
dc.rights.accessAcceso Abierto

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Attribution-NonCommercial-NoDerivatives 4.0 Internacional
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internacional