Jain, R Praveen Kumar (University of Porto), Aguiar, A. Pedro (Faculty of Engineering, University of Porto (FEUP)), Sousa, Joao (Universidade do Porto - Faculdade Engenharia)

Self-Triggered Cooperative Path Following Control of Fixed Wing Unmanned Aerial Vehicles

Scheduled for presentation during the "Intelligent and Autonomous UASs" (ThC5), Thursday, June 15, 2017, 15:40−16:00, San Marco Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

Formation control of multi-robot system may involve extensive inter-robot information exchange. This paper proposes a methodology to reduce the frequency of information exchange in a formation control problem through the use of a self-triggered control strategy for cooperative path following (CPF) problems. In particular, a decentralized, self-triggered CPF controller is developed for fixed-wing Unmanned Aerial Vehicles, where the vehicles are tasked to follow desired geometric paths and keeping a desired formation pattern. Using the Input-to-State Stability framework, we provide guarantees of stability and convergence in the presence of event-based communication. Simulation results are provided to illustrate the efficacy of the developed strategy. It is shown that the self-triggered approach results in significant reduction of information exchange when compared to the conventional time-triggered (periodic) implementation.