Coordinated Path Following of UAVs over Time-Varying Digraphs Connected in an Integral Sense

Hyungsoo Kang; Isaac Kaminer; Venanzio Cichella; Naira Hovakimyan

doi:10.48550/arxiv.2307.06553

Back

Coordinated Path Following of UAVs over Time-Varying Digraphs Connected in an Integral Sense

Preprint

Open access

Coordinated Path Following of UAVs over Time-Varying Digraphs Connected in an Integral Sense

Hyungsoo Kang, Isaac Kaminer, Venanzio Cichella and Naira Hovakimyan

ArXiv.org

07/13/2023

DOI: 10.48550/arxiv.2307.06553

Files and links (1)

url

https://doi.org/10.48550/arxiv.2307.06553View

Preprint (Author's original)This preprint has not been evaluated by subject experts through peer review. Preprints may undergo extensive changes and/or become peer-reviewed journal articles. Open Access

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 decentralized 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
Isaac Kaminer
Venanzio Cichella
Naira Hovakimyan
Resource Type: Preprint
Publication Details: ArXiv.org
DOI: 10.48550/arxiv.2307.06553
ISSN: 2331-8422
Language: English
Date posted: 07/13/2023
Academic Unit: Mechanical Engineering
Record Identifier: 9984444866902771

Metrics

95 Record Views