Event-triggered leader-following consensus of UAVs carrying a suspended load

A. Vega-Alonzo (1) , J F Guerrero-Castellanos (1) , Nicolas Marchand (2) , S Durand (3, 4) , G. Mino-Aguilar (1) , V R Gonzalez-Díaz (1)

1 BUAP - Benemérita Universidad Autónoma de Puebla
2 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
3 ICube - Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie
4 INSA Strasbourg - Institut National des Sciences Appliquées - Strasbourg

This article presents the design and development of an event-triggered control strategy to solve the problem of leader-following consensus and formation problem for a group of UAVs carrying a suspended load individually. In this work, the vehicles exchange information through a network, which is represented by a directed and strongly connected graph. Then, employing a decentralized control law, each UAV decides when it has to send a new value to its neighbors. The stability of the complete system is carried out, and numerical results show the advantages wrt information exchange between UAVs, as well as excellent performance in the angular stabilization and the minimum swing for the suspended load.

Mots clés: Eigenvalues and eigenfunctions; Radio frequency; Collaboration; Vehicle dynamics; Decentralized control; Attitude control; Unmanned aerial vehicles

Domaines: Automatique; Automatique / Robotique

A. Vega-Alonzo, J F Guerrero-Castellanos, Nicolas Marchand, S Durand, G. Mino-Aguilar, et al.. Event-triggered leader-following consensus of UAVs carrying a suspended load. EBCCSP 2019 - 5th IEEE Conference on Event-Based Control Communication and Signal Processing, May 2019, Vienne, Austria. ⟨10.1109/EBCCSP.2019.8836720⟩. ⟨hal-02278014⟩