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Robust Rendezvous Control of UAVs with Collision Avoidance and Connectivity Maintenance
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). Univ Paris Saclay, ONERA, DTIS, F-91123 Palaiseau, France.ORCID iD: 0000-0002-7918-7677
CNRS, Lab Signaux & Syst, F-91192 Gif Sur Yvette, France..
Univ Paris Saclay, ONERA, DTIS, F-91123 Palaiseau, France..
Univ Paris Saclay, ONERA, DTIS, F-91123 Palaiseau, France..
2022 (English)In: 2022 American control Conference  (ACC), IEEE, 2022, p. 4733-4738Conference paper, Published paper (Refereed)
Abstract [en]

We address the rendezvous control problem of a group of thrust-propelled Unmanned Aerial Vehicles (UAVs) interconnected over an undirected graph and subject to interagent constraints. The proposed distributed control law achieves the desired formation using only local information and guarantees inter-agent collision-avoidance as well as connectivity maintenance. Relying on the edge-agreement framework and on singular-perturbation theory of multi-stable systems we establish almost-everywhere practical input-to-state stability of the desired formation with respect to disturbances. In the absence of perturbations, asymptotic convergence to the consensus manifold is ensured. A numerical simulation illustrates the effectiveness of the proposed approach.

Place, publisher, year, edition, pages
IEEE, 2022. p. 4733-4738
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-321268DOI: 10.23919/ACC53348.2022.9867434ISI: 000865458704059Scopus ID: 2-s2.0-85138489638OAI: oai:DiVA.org:kth-321268DiVA, id: diva2:1710167
Conference
American Control Conference (ACC), JUN 08-10, 2022, Atlanta, GA
Note

QC 20221111

Part of proceedings: ISBN 978-1-6654-5196-3

Available from: 2022-11-11 Created: 2022-11-11 Last updated: 2023-06-08Bibliographically approved

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Restrepo, Esteban

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • fi-FI
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Output format
  • html
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  • asciidoc
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