Event-triggered consensus control method with communication faults for multi-UAV

被引：2

作者：

Guo, Zilong ^{[1
]}

Wei, Chen ^{[1
]}

Shen, Yankai ^{[1
]}

Yuan, Wanmai ^{[2
]}

机构：

[1] Beihang Univ, Sch Automat Sci & Elect Engn, Xueyuan Rd 37, Beijing 100191, Peoples R China

[2] China Elect Technol Grp Corp, China Acad Elect & Informat Technol, Beijing 100041, Peoples R China

来源：

INTELLIGENCE & ROBOTICS | 2023年 / 3卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Unmanned aerial vehicle; communication faults; consensus; event-triggered control; interaction topology; OUTPUT CONSENSUS; SYSTEMS; AGENTS;

D O I：

10.20517/ir.2023.32

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the event-triggered consensus for a group of unmanned aerial vehicles (UAVs) with communication faults under the assumption that the position sensors of some individuals are damaged. The objective is to make the UAV group reach consensus in urgent tasks such as obstacle avoidance or evasion. Using the Lyapunov stability theory, sufficient conditions to achieve system consensus are given based on different velocity and position interaction topologies. Considering the limited capabilities of sensors and processors, an event-triggered consensus protocol is adopted to reduce the sampling frequency. Finally, simulation results illustrate the effectiveness of our approach.

引用

页码：596 / 613

页数：18

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