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.
Domaines
Automatique / Robotique
Fichier principal
DistributedIntegralControlOfMultipleUAVsPreciseFlockingAndNavigation.pdf (5.78 Mo)
Télécharger le fichier
| Origine | Fichiers produits par l'(les) auteur(s) |
|---|
Loading...