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Journal Articles IET Control Theory and Applications Year : 2019

Distributed Integral Control of Multiple UAVs: Precise Flocking and Navigation

Abstract

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.
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Dates and versions

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

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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⟩
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