Alvarez Muñoz, Jonatan Uziel (EXTIA), Chevalier, Jérémy (EXTIA), Castillo Zamora, Jose de Jesus (IPSA & CentraleSupelec), Escareno Castro, Juan Antonio (XLIM Research Institute, University of Limoges)

Distributed Event-Based Sliding-Mode Consensus Control in Dynamic Formation for VTOL-UAVs

Scheduled for presentation during the Regular Session "Swarms I" (FrC3), Friday, June 18, 2021, 14:00−14:20, Edessa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 23, 2024

Abstract

The present work deals with consensus control for a multi-agent system composed by mini Vertical Takeoff and Landing (VTOL) rotorcrafts by means of a novel nonlinear event-based control law. First, the VTOL system modeling is presented using the quaternion parametrization to develop an integral sliding-mode control law for attitude stabilization of the aerial robots. Then, the vehicle position dynamics is expanded to the multi-agent case where a cutting-edge event-triggered sliding-mode control is synthesized to fulfill the collective consensus objective within a formation context. With its inherent robustness and reduced computational cost, the aforementioned control strategy guarantees closed-loop stability, while driving trajectories to the equilibrium in the presence of time-varying disturbances. Finally, for validation and assessment purposes of the overall consensus strategy, an extensive numerical simulation stage is conducted.