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Event-triggered leader-following consensus of UAVs carrying a suspended load

Abstract : This article presents the design and development of an event-triggered control strategy to solve the problem of leader-following consensus and formation problem for a group of UAVs carrying a suspended load individually. In this work, the vehicles exchange information through a network, which is represented by a directed and strongly connected graph. Then, employing a decentralized control law, each UAV decides when it has to send a new value to its neighbors. The stability of the complete system is carried out, and numerical results show the advantages wrt information exchange between UAVs, as well as excellent performance in the angular stabilization and the minimum swing for the suspended load.
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https://hal.archives-ouvertes.fr/hal-02278014
Contributor : Nicolas Marchand Connect in order to contact the contributor
Submitted on : Monday, December 9, 2019 - 11:31:23 AM
Last modification on : Sunday, June 26, 2022 - 12:25:46 AM
Long-term archiving on: : Tuesday, March 10, 2020 - 12:54:37 PM

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A. Vega-Alonzo, J F Guerrero-Castellanos, Nicolas Marchand, S Durand, G. Mino-Aguilar, et al.. Event-triggered leader-following consensus of UAVs carrying a suspended load. EBCCSP 2019 - 5th IEEE Conference on Event-Based Control Communication and Signal Processing, May 2019, Vienne, Austria. ⟨10.1109/EBCCSP.2019.8836720⟩. ⟨hal-02278014⟩

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