Open AccessDistributed integral control of multiple UAVs: precise flocking and navigation
Author(s) -
Saif Osamah,
Fantoni Isabelle,
ZavalaRío Arturo
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.5684
Subject(s) - flocking (texture) , control theory (sociology) , consensus algorithm , computer science , lyapunov function , control engineering , artificial intelligence , engineering , algorithm , control (management) , nonlinear system , materials science , physics , quantum mechanics , composite material
The authors interest in this work is to perform a precise real‐time flocking of multiple unmanned aerial vehicles (UAVs). A consensus‐based flocking algorithm that ensures a precise security distance between UAVs is proposed. By using Lyapunov theoretical analysis, the authors propose a flocking algorithm that ensures the ultimate boundedness of multiple‐UAV system solutions. Moreover, this algorithm is enhanced by a distributed integral control that renders the inter‐distances between UAVs more precise. Finally, experimental results are provided to prove and show the efficiency of these algorithms.