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Communication Dans Un Congrès Année : 2021

Distributed Event-Based Sliding-Mode Consensus Control in Dynamic Formation for VTOL-UAVs

Résumé

The present work deals with consensus control for a multi-agent system composed by mini Vertical Takeoff and Landing (VTOL) rotorcrafts by means of a novel nonlinear event-based control law. First, the VTOL system modeling is presented using the quaternion parametrization to develop an integral sliding-mode control law for attitude stabilization of the aerial robots. Then, the vehicle position dynamics is expanded to the multi-agent case where a cuttingedge event-triggered sliding-mode control is synthesized to fulfill the collective consensus objective within a formation context. With its inherent robustness and reduced computational cost, the aforementioned control strategy guarantees closed-loop stability, while driving trajectories to the equilibrium in the presence of time-varying disturbances. Finally, for validation and assessment purposes of the overall consensus strategy, an extensive numerical simulation stage is conducted.
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Dates et versions

hal-03351323 , version 1 (22-09-2021)

Identifiants

Citer

Jonatan U Alvarez-Munoz, J. Chevalier, Jose J Castillo-Zamora, J. Escareno. Distributed Event-Based Sliding-Mode Consensus Control in Dynamic Formation for VTOL-UAVs. 2021 International Conference on Unmanned Aircraft Systems (ICUAS), Jun 2021, Athens, Greece. pp.1364-1373, ⟨10.1109/ICUAS51884.2021.9476730⟩. ⟨hal-03351323⟩
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