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

A. Vega-Alonzo 1 J Guerrero-Castellanos 1 Nicolas Marchand 2 S Durand 3, 4 G. Mino-Aguilar 1 V Gonzalez-Díaz 1
1 BUAP - Benemérita Universidad Autónoma de Puebla
2 GIPSA-SYSCO - SYSCO
GIPSA-DA - Département Automatique
3 ICube - Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie
4 INSA Strasbourg - Institut National des Sciences Appliquées - Strasbourg
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.
Keywords : Radio frequency Collaboration Eigenvalues and eigenfunctions Attitude control Unmanned aerial vehicles Vehicle dynamics Decentralized control
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Conference papers
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Submitted on : Monday, December 9, 2019 - 11:31:23 AM
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A. Vega-Alonzo, J Guerrero-Castellanos, Nicolas Marchand, S Durand, G. Mino-Aguilar, et al.. Event-triggered leader-following consensus of UAVs carrying a suspended load. 5th International Conference on Event-Based Control, Communication and Signal Processing (EBCCSP'19), May 2019, Vienne, Austria. ⟨10.1109/EBCCSP.2019.8836720⟩. ⟨hal-02278014⟩

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