Conference proceeding
Coordinated Path Following of UAVs over Time-Varying Digraphs Connected in an Integral Sense
2024 American Control Conference (ACC), pp.2586-2591
07/10/2024
DOI: 10.23919/ACC60939.2024.10644374
Abstract
This paper presents a new connectivity condition on the information flow between UAVs to achieve coordinated path following. The information flow is directional, so that the underlying communication network topology is represented by a time-varying digraph. We assume that this digraph is connected in an integral sense. This is a much more general assumption than the one currently used in the literature. Under this assumption, it is shown that a distributed coordination controller ensures exponential convergence of the coordination error vector to a neighborhood of zero. The efficacy of the algorithm is confirmed with simulation results.
Details
- Title: Subtitle
- Coordinated Path Following of UAVs over Time-Varying Digraphs Connected in an Integral Sense
- Creators
- Hyungsoo Kang - University of Illinois Urbana-ChampaignIsaac Kaminer - Naval Postgraduate SchoolVenanzio Cichella - University of IowaNaira Hovakimyan - University of Illinois Urbana-Champaign
- Resource Type
- Conference proceeding
- Publication Details
- 2024 American Control Conference (ACC), pp.2586-2591
- Publisher
- AACC
- DOI
- 10.23919/ACC60939.2024.10644374
- eISSN
- 2378-5861
- Number of pages
- 6
- Language
- English
- Date published
- 07/10/2024
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984702958202771
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