ICUAS'17 Paper Abstract


Paper ThA3.2

MUÑOZ PALACIOS, FILIBERTO (UNIVERSIDAD POLITÉCNICA DE PACHUCA), Espinoza Quesada, Eduardo Steed (Universidad Politécnica de Pachuca), GARCIA CARRILLO, Luis Rodolfo (Texas A&M University - Corpus Christi), Márquez Vera, Marco Antonio (Polytechnic University of Pachuca)

Semi-Global Leader-Follower Consensus for Networked Unmanned Multi-Aircraft Systems with Input Saturation

Scheduled for presentation during the "Networked Swarms" (ThA3), Thursday, June 15, 2017, 10:20−10:40, Salon CD

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 12, 2021

Keywords Networked Swarms, Control Architectures, Micro- and Mini- UAS


This paper deals with the design of a consensus algorithm for a multi-aircraft (type Quadrotor) leader-follower system. This algorithm uses directed communication topologies, as well as input saturation for the follower agents. The convergence analysis of the proposed strategies is analyzed by using Lyapunov stability theory. Semi-global asymptotic consensus tracking is obtained for the case of leader with input zero, while semi-global practical consensus tracking is achieved for the case of leader with input non-zero. To demonstrate the effectiveness of the proposed solution, a set of simulation results is presented.



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