ICUAS'17 Paper Abstract


Paper WeC1.6

Sun, Liang (New Mexico State University), HU, Bin (University of Notre Dame), Zhao, Shiyu (University of Sheffield)

An Event-Triggering-Based Approach for Three-Dimensional Local-Level Frame Formation Control of Leader-Follower UAVs

Scheduled for presentation during the "Autonomy - III" (WeC1), Wednesday, June 14, 2017, 18:20−18:40, Salon E

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 Autonomy, Control Architectures, UAS Applications


The development of a three-dimensional (3D) formation controller for unmanned aerial vehicles (UAVs) associated with an event-triggered transmission protocol is presented in this paper. The formation controller is derived based on a 3D relative kinematic model established upon a local-level coordinate frame, which does not require any absolute global information. The proposed controller is developed using the Lyapunov theory and proved to be capable of driving the follower UAV to exponentially converge to a desired formation. An event-triggered transmission protocol is developed based on the derived 3D formation controller in order to efficiently schedule the transmission of the leader's state to the follower according to the dynamic change of the leader's state. The performance of the formation control law integrated with the event-triggered protocol is verified in simulation.



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