Real-time event-based formation control of a group of VTOL-UAVs

Jose Fermi Guerrero Castellanos (1) , A. Vega-Alonzo (1) , Nicolas Marchand (2) , Sylvain Durand (3) , J. Linares-Flores (1) , G. Mino-Aguilar (1)

1 BUAP - Benemérita Universidad Autónoma de Puebla
2 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
3 ICube - Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie

This paper presents the development of a collaborative event-based control applied to the problem of formation of a group of VTOL-UAVs (Vertical Takeoff and Landing, Unmanned Aerial Vehicles). Each VTOL-UAV decides, based on the difference of its current state (linear position and velocity) and its latest broadcast state, when it has to send a new value to its neighbours. The asymptotic convergence to average consensus or desired formation is depicted via a real-time implementation.

Domaines: Automatique / Robotique; Automatique

Jose Fermi Guerrero Castellanos, A. Vega-Alonzo, Nicolas Marchand, Sylvain Durand, J. Linares-Flores, et al.. Real-time event-based formation control of a group of VTOL-UAVs. EBCCSP 2017 - 3rd IEEE Conference on Event-Based Control Communication and Signal Processing, May 2017, Funchal, Madeira, Portugal. ⟨hal-01527633⟩