TY - GEN
T1 - Distributed Event-Triggered Formation Control of Multiple UAVs with Communication Delays
AU - Xu, Xiangfan
AU - Huang, Yi
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.
PY - 2024
Y1 - 2024
N2 - This paper addresses the formation control problem of mul tiple quadrotor unmanned aerial vehicles (UAVs) systems, considering communication delays and limited communication resources. To tackle this issue, a distributed event-triggered formation control algorithm is proposed within a hierarchical framework. Specifically, we present a dis tributed command force that only utilizes the relative position informa tion from neighboring UAVs, thereby reducing the measurement costs. With the proposed event-triggered mechanism, our algorithm can achieve the desired formation with reduced communication costs, while avoiding Zeno behavior.Finally, simulation results are provided to demonstrate the effectiveness of the proposed algorithm.
AB - This paper addresses the formation control problem of mul tiple quadrotor unmanned aerial vehicles (UAVs) systems, considering communication delays and limited communication resources. To tackle this issue, a distributed event-triggered formation control algorithm is proposed within a hierarchical framework. Specifically, we present a dis tributed command force that only utilizes the relative position informa tion from neighboring UAVs, thereby reducing the measurement costs. With the proposed event-triggered mechanism, our algorithm can achieve the desired formation with reduced communication costs, while avoiding Zeno behavior.Finally, simulation results are provided to demonstrate the effectiveness of the proposed algorithm.
KW - Formation control
KW - communication delays
KW - event-triggering mechanism(ETM)
KW - unmanned aerial vehicles(UAVs)
UR - https://www.scopus.com/pages/publications/105000232901
U2 - 10.1007/978-981-97-8650-3_21
DO - 10.1007/978-981-97-8650-3_21
M3 - Conference contribution
AN - SCOPUS:105000232901
SN - 9789819786497
T3 - Lecture Notes in Electrical Engineering
SP - 202
EP - 210
BT - Proceedings of 2024 Chinese Intelligent Systems Conference
A2 - Jia, Yingmin
A2 - Fu, Yongling
A2 - Zhang, Weicun
A2 - Yang, Yang
PB - Springer Science and Business Media Deutschland GmbH
T2 - 20th Chinese Intelligent Systems Conference, CISC 2024
Y2 - 26 October 2024 through 27 October 2024
ER -