Formation control of multi-robot system may involve extensive inter-robot information exchange. This paper proposes a methodology to reduce the frequency of information exchange in a formation control problem through the use of a self-triggered control strategy for cooperative path following (CPF) problems. In particular, a decentralized, self-triggered CPF controller is developed for fixed-wing Unmanned Aerial Vehicles, where the vehicles are tasked to follow desired geometric paths and keeping a desired formation pattern. Using the Input-to-State Stability framework, we provide guarantees of stability and convergence in the presence of event-based communication. Simulation results are provided to illustrate the efficacy of the developed strategy. It is shown that the self-triggered approach results in significant reduction of information exchange when compared to the conventional time- triggered (periodic) implementation.


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    Title :

    Self-triggered cooperative path following control of fixed wing Unmanned Aerial Vehicles


    Contributors:


    Publication date :

    2017-06-01


    Size :

    564685 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English