Distributed integral control of multiple UAVs: precise flocking and navigation

被引：31

作者：

Saif, Osamah ^{[1
,2
]}

Fantoni, Isabelle ^{[1
,3
]}

Zavala-Rio, Arturo ^{[4
]}

机构：

[1] UTC, Sorbonne Univ, CNRS, UMR Heudiasyc 7253, F-60200 Compiegne, France

[2] Scalian Eurogiciel, 417 LOccitane,CS 77679, F-31676 Labege, France

[3] CNRS, UMR 6004, LS2N, 1 Rue Noe, F-44321 Nantes, France

[4] Inst Potosino Invest Cient & Tecnol, Camino Presa San Jose 2055,Lomas 4a Secc, San Luis Potosi 78216, Mexico

来源：

IET CONTROL THEORY AND APPLICATIONS | 2019年 / 13卷 / 13期

关键词：

mobile robots; autonomous aerial vehicles; adaptive control; multi-robot systems; neurocontrollers; control system synthesis; stability; Lyapunov methods; distributed control; distributed integral control; precise flocking; navigation; real-time flocking; multiple unmanned aerial vehicles; consensus-based flocking algorithm; precise security distance; Lyapunov theoretical analysis; multiple-UAV system solutions; inter-distances; CONSENSUS; SYSTEMS; AGENTS;

D O I：

10.1049/iet-cta.2018.5684

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：2008 / 2017

页数：10

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