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Pré-Publication, Document De Travail Année : 2021

Robust Consensus of High-Order Systems under Output Constraints: Application to Rendezvous of Underactuated UAVs

Esteban Restrepo
Antonio Loria
Ioannis Sarras
  • Fonction : Auteur
Julien Marzat
  • Fonction : Auteur

Résumé

We address the output and state consensus problems for multi-agent high-order systems in feedback form under realistic conditions. First, under the premise that measurements may be of different kinds, we consider systems interconnected over undirected-topology networks as well as directed spanning-trees and directed cycles. Second, we assume that the systems may be subject to multiple restrictions in the form of output or state constraints, such as limited-range measurements, physical limitations imposed by the actuators or by the environment, etc. In addition, we suppose that the systems may be subject to external disturbances, such as undesired forces or modeling uncertainties. Under these conditions, we provide a control framework and a formal analysis that establishes robust stability in the input-to-state sense. The former relies on a modified backstepping method and the latter on multistability theory. In addition, we show how our approach applies to meaningful problems of physical systems through a case-study of interest in the aerospace industry: safetyaware rendezvous control of underactuated UAVs subject to connectivity and collision-avoidance constraints.

Domaines

Automatique
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Dates et versions

hal-03275331 , version 1 (01-07-2021)
hal-03275331 , version 2 (05-01-2022)

Identifiants

  • HAL Id : hal-03275331 , version 1

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Esteban Restrepo, Antonio Loria, Ioannis Sarras, Julien Marzat. Robust Consensus of High-Order Systems under Output Constraints: Application to Rendezvous of Underactuated UAVs. 2021. ⟨hal-03275331v1⟩
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