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Open AccessArticle

Leader-Following Consensus and Formation Control of VTOL-UAVs with Event-Triggered Communications

1
Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Cuidad Universitaria, Puebla 72570, Mexico
2
ICube Laboratory, CNRS, INSA Strasbourg, Strasbourg University, 67000 Strasbourg, France
3
GIPSA-Lab, Grenoble INP, CNRS, Université Grenoble Alpes, 38000 Grenoble, France
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
This paper is an extended version of our papers published in (i) Guerrero-Castellanos, J.F.; et al. Real-time event-based formation control of a group of VTOL-UAVs. In Proceedings of the 3rd International Conference on Event-Based Control, Communication and Signal Processing (EBCCSP’17), Funchal, Portugal, 24–26 May 2017; and (ii) Vega-Alonzo, A.; et al. Event-triggered leader-following consensus of UAVs carrying a suspended load. In Proceedings of the 5th International Conference on Event-Based Control, Communication, and Signal Processing (EBCCSP’19), Vienna, Austria, 27–29 May 2019.
Sensors 2019, 19(24), 5498; https://doi.org/10.3390/s19245498
Received: 19 October 2019 / Revised: 5 December 2019 / Accepted: 9 December 2019 / Published: 12 December 2019
(This article belongs to the Special Issue Mobile Robot Navigation)
This article presents the design and implementation of an event-triggered control approach, applied to the leader-following consensus and formation of a group of autonomous micro-aircraft with capabilities of vertical take-off and landing (VTOL-UAVs). The control strategy is based on an inner–outer loop control approach. The inner control law stabilizes the attitude and position of one agent, whereas the outer control follows a virtual leader to achieve position consensus cooperatively through an event-triggered policy. The communication topology uses undirected and connected graphs. With such an event-triggered control, the closed-loop trajectories converge to a compact sphere, centered in the origin of the error space. Furthermore, the minimal inter-sampling time is proven to be below bounded avoiding the Zeno behavior. The formation problem addresses the group of agents to fly in a given shape configuration. The simulation and experimental results highlight the performance of the proposed control strategy. View Full-Text
Keywords: event-triggered control; VTOL-UAVs; consensus and formation control; multi-agent systems; cyber-physical systems (CPS) event-triggered control; VTOL-UAVs; consensus and formation control; multi-agent systems; cyber-physical systems (CPS)
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Guerrero-Castellanos, J.F.; Vega-Alonzo, A.; Durand, S.; Marchand, N.; Gonzalez-Diaz, V.R.; Castañeda-Camacho, J.; Guerrero-Sánchez, W.F. Leader-Following Consensus and Formation Control of VTOL-UAVs with Event-Triggered Communications . Sensors 2019, 19, 5498.

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