Distributed Integral Control of Multiple UAVs: Precise Flocking and Navigation - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue IET Control Theory and Applications Année : 2019

Distributed Integral Control of Multiple UAVs: Precise Flocking and Navigation

Résumé

Our interest in this work is to perform a precise real-time flocking of multiple UAVs. A consensus-based flocking algorithm that ensures a precise security distance between UAVs is proposed. By using Lyapunov theoretical analysis, we propose a flocking algorithm that ensures the ultimate boundedness of multiple-UAV system solutions. Moreover, this algorithm is enhanced by a distributed integral control that renders the inter-distances between UAVs more precise. Finally, experimental results are provided to prove and show the efficiency of these algorithms.
Fichier principal
Vignette du fichier
DistributedIntegralControlOfMultipleUAVsPreciseFlockingAndNavigation.pdf (5.78 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02188321 , version 1 (22-07-2019)

Identifiants

Citer

Osamah Saif, Isabelle Fantoni, Arturo Zavala-Río. Distributed Integral Control of Multiple UAVs: Precise Flocking and Navigation. IET Control Theory and Applications, 2019, 13 (13), pp.2008-2017. ⟨10.1049/iet-cta.2018.5684⟩. ⟨hal-02188321⟩
130 Consultations
197 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More