Robust Consensus of High-Order Systems Under Output Constraints: Application to Rendezvous of Underactuated UAVs

We solve output- and state-consensus problems for multiagent high-order systems in feedback form. We consider systems interconnected over arbitrary (connected) undirected-topology networks as well as directed spanning-trees and directed cycles. We assume that the systems may be subject to multiple r...

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Published inIEEE transactions on automatic control Vol. 68; no. 1; pp. 329 - 342
Main Authors Restrepo, Esteban, Loria, Antonio, Sarras, Ioannis, Marzat, Julien
Format Journal Article
LanguageEnglish
Published New York IEEE 01.01.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Institute of Electrical and Electronics Engineers
Subjects
Aerospace industry
Automatic Control Engineering
Collision avoidance
Computer Science
Consensus
control under constraints
Diffusion tensor imaging
Lyapunov methods
Mathematical models
Multi-agent systems
Multiagent systems
multiagent vehicles
Nonlinear systems
robust stability
Robustness
Stability analysis
Topology
Unmanned aerial vehicles
Vehicle dynamics
Online AccessGet full text
ISSN0018-9286
1558-2523
2334-3303
1558-2523
DOI10.1109/TAC.2022.3144107

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Abstract We solve output- and state-consensus problems for multiagent high-order systems in feedback form. We consider systems interconnected over arbitrary (connected) undirected-topology networks as well as directed spanning-trees and directed cycles. We assume that the systems may be subject to multiple restrictions in the form of output or state constraints, such as limited-range measurements and physical limitations. In addition, we suppose that the systems may be subject to external disturbances. Under these conditions, we present a control framework and a formal analysis that establishes robust stability in the input-to-state sense. The former relies on a modified backstepping method and the latter on multistability theory. Finally, we apply our approach to a case-study of interest in the aerospace industry: Safety-aware rendezvous control of underactuated UAVs subject to connectivity and collision-avoidance constraints.
AbstractList We solve output- and state-consensus problems for multiagent high-order systems in feedback form. We consider systems interconnected over arbitrary (connected) undirected-topology networks as well as directed spanning-trees and directed cycles. We assume that the systems may be subject to multiple restrictions in the form of output or state constraints, such as limited-range measurements and physical limitations. In addition, we suppose that the systems may be subject to external disturbances. Under these conditions, we present a control framework and a formal analysis that establishes robust stability in the input-to-state sense. The former relies on a modified backstepping method and the latter on multistability theory. Finally, we apply our approach to a case-study of interest in the aerospace industry: Safety-aware rendezvous control of underactuated UAVs subject to connectivity and collision-avoidance constraints.
We address the output and state consensus problems for multi-agent high-order systems in feedback form under realistic conditions. First, under the premise that measurements may be of different kinds, we consider systems interconnected over undirected-topology networks as well as directed spanning-trees and directed cycles. Second, we assume that the systems may be subject to multiple restrictions in the form of output or state constraints, such as limited-range measurements, physical limitations imposed by the actuators or by the environment, etc. In addition, we suppose that the systems may be subject to external disturbances, such as undesired forces or modeling uncertainties. Under these conditions, we provide a control framework and a formal analysis that establishes robust stability in the input-to-state sense. The former relies on a modified backstepping method and the latter on multistability theory. In addition, we show how our approach applies to meaningful problems of physical systems through a case-study of interest in the aerospace industry: safetyaware rendezvous control of underactuated UAVs subject to connectivity and collision-avoidance constraints.
Author Sarras, Ioannis
Marzat, Julien
Restrepo, Esteban
Loria, Antonio
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Snippet We solve output- and state-consensus problems for multiagent high-order systems in feedback form. We consider systems interconnected over arbitrary (connected)...
We address the output and state consensus problems for multi-agent high-order systems in feedback form under realistic conditions. First, under the premise...
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SubjectTerms Aerospace industry
Automatic Control Engineering
Collision avoidance
Computer Science
Consensus
control under constraints
Diffusion tensor imaging
Lyapunov methods
Mathematical models
Multi-agent systems
Multiagent systems
multiagent vehicles
Nonlinear systems
robust stability
Robustness
Stability analysis
Topology
Unmanned aerial vehicles
Vehicle dynamics
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Title Robust Consensus of High-Order Systems Under Output Constraints: Application to Rendezvous of Underactuated UAVs
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