Event-triggered leader-following consensus of UAVs carrying a suspended load

A. Vega-Alonzo, J.F. Guerrero-Castellanos, N. Marchand, S. Durand, G. Mino-Azuilar, V. R. Gonzalez-Diaz
2019 2019 5th International Conference on Event-Based Control, Communication, and Signal Processing (EBCCSP)  
This article presents the design and development of an event-triggered control strategy to solve the problem of leader-following consensus and formation problem for a group of UAVs carrying a suspended load individually. In this work, the vehicles exchange information through a network, which is represented by a directed and strongly connected graph. Then, employing a decentralized control law, each UAV decides when it has to send a new value to its neighbors. The stability of the complete
more » ... m is carried out, and numerical results show the advantages wrt information exchange between UAVs, as well as excellent performance in the angular stabilization and the minimum swing for the suspended load.
doi:10.1109/ebccsp.2019.8836720 dblp:conf/ebccsp/Vega-AlonzoGMDM19 fatcat:ya27x5pbfzb2xmaejaj6cwxkzi