ICUAS 2019 Paper Abstract

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Alvarez Muñoz, Jonatan Uziel (Université de Grenoble, GIPSA-Lab), Castillo Zamora, Jose de Jesus (IPSA & Laboratoire des Signaux et Systèmes), Escareno Castro, Juan Antonio (XLIM Research Institute - University of Limoges), Boussaada, Islam (IPSA & Laboratoire des Signaux et Systèmes), Méndez-Barrios, César Fernando (Universidad Autónoma de San Luis Potosí), LABBANI, Ouiddad (XLIM Research Institute - ENSIL-ENSCI - University of Limoges)

Time-Delay Control of a Multi-Rotor VTOL Multi-Agent System Towards Transport Operations

Scheduled for presentation during the Regular Session "Swarms II" (WeB2), Wednesday, June 12, 2019, 16:20−16:40, Heritage A

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords Micro- and Mini- UAS, Swarms, Air Vehicle Operations

Abstract

The present work deals with a consensus control for a multi-agent system composed by a mini Vertical Take-off and Landing (VTOL) rotorcrafts by means of a controller based on time-delay parametrization. The VTOL system modeling is presented using the quaternion parametrization to develop the attitude-stabilizing law of the aerial robots. The vehicle position dynamics are extended to the multi-agent case where a time-delayed PID control is designed in order to achieve general consensus in terms of formation control of the system. Finally, a detailed simulation study is presented to validate the effectiveness of the proposed control strategy, where it also considered a collective interaction.

 

 

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