Event-based control strategy for consensus of a group of VTOL-UAVs

A. Vega-Alonzo (1) , Jose Fermi Guerrero Castellanos (1) , Sylvain Durand (2) , Nicolas Marchand (3) , S. E. Maya-Rueda (1) , Gerardo Mino-Aguilar (1)

1 FCE BUAP - Facultad de Ciencias de la Electrónica [Puebla]
2 ICube - Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie
3 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

This paper presents the development of a collaborative event-based control applied to the problem of consensus and formation of a group of VTOL-UAVs (Vertical Takeoff and Landing, Unmanned Aerial Vehicles). Each VTOL-UAV decides, based on the difference of its current state (linear position and velocity) and its latest broadcast state, when it has to send a new value to its neighbors. The asymptotic convergence to average consensus or desired formation is depicted via numerical simulations.

Domaines: Automatique / Robotique; Automatique

A. Vega-Alonzo, Jose Fermi Guerrero Castellanos, Sylvain Durand, Nicolas Marchand, S. E. Maya-Rueda, et al.. Event-based control strategy for consensus of a group of VTOL-UAVs. EBCCSP 2016 - 2nd IEEE Conference on Event-Based Control Communication and Signal Processing, Jun 2016, Cracovie, Poland. ⟨hal-01330792⟩