Dynamic event-triggered cooperative formation control for UAVs subject to time-varying disturbances

• Published in: IET control theory & applications Vol. 14; no. 17; pp. 2514 - 2525
• Main Authors: Wei, Lili, Chen, Mou, Li, Tao
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 26.11.2020
• Subjects: appropriate disturbance observers; asymptotic stability; autonomous aerial vehicles; closed loop systems; control system synthesis; controller gains; decentralised control; desired linear matrix inequality; distributed control; distributed event‐triggered control scheme; dynamic event‐triggered cooperative formation control problem; dynamic event‐triggered mechanism; leader UAV; leader–follower framework; linear matrix inequalities; Lyapunov methods; mobile robots; multiple frequency waves; multi‐robot systems; observers; position control; Research Article; second‐order kinematical model; time‐varying disturbances; time‐varying systems; triggering parameters; triggering threshold; UAV formation; unknown external disturbances; unmanned aerial vehicles subject; time-varying systems; UAV formation; second-order kinematical model; time-varying disturbances; distributed event-triggered control scheme; multi-robot systems; decentralised control; mobile robots; asymptotic stability; leader–follower framework; dynamic event-triggered cooperative formation control problem; unknown external disturbances; linear matrix inequalities; unmanned aerial vehicles subject; position control; triggering parameters; dynamic event-triggered mechanism; leader UAV; distributed control; control system synthesis; closed loop systems; appropriate disturbance observers; autonomous aerial vehicles; multiple frequency waves; controller gains; triggering threshold; desired linear matrix inequality; observers; Lyapunov methods

The dynamic event-triggered cooperative formation control problem for unmanned aerial vehicles (UAVs) subject to time-varying disturbances is studied. A single UAV is described by a second-order kinematical model and the desired formation is constructed by utilising the leader–follower framework, in...