Robust Sampled-Data Consensus-Based Cooperative Control of Multi-UAVs

• Published in: Mediterranean Conference on Control & Automation pp. 167 - 172
• Main Authors: Di Ferdinando, M., Pepe, P., Di Gennaro, S.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 22.06.2021
• Subjects: Automation; Consensus control; Geometry; Protocols; Tracking; Unmanned aerial vehicles
• ISSN: 2473-3504
• DOI: 10.1109/MED51440.2021.9480249

In this paper, the sampled-data formation control problem of multi unmanned aerial vehicles (UAVs), affected by actuation disturbances and observation errors, over strongly directed networks is studied. In particular, a robust consensus based sampled-data protocol enabling a connected and leaderless swarm of UAVs to reach a desired formation in altitude and position is proposed. The provided sampled-data control algorithm relies on the architecture of leaderless consensus, in which each UAV communicates with the adjacent UAVs only and, furthermore, on the input-to-state stability redesign methodology which is used in order to attenuate the effects of any bounded actuation disturbance and of any sufficiently small observation error. A sampled-data control strategy for the collision avoidance of adjacent UAVs is also included. The theory of the stabilization in the sample-and-hold sense is used as a tool in order to prove that the sampled-data leaderless consensus of the multi-UAVs swarm is ensured, regardless of the above disturbances and errors. Actuator disturbances are assumed to be bounded with arbitrarily large a-priori known bound. Simulations show the good performances of the proposed robust sampled-data control algorithm.