Preprint
Coordinated Path Following of UAVs using Event-Triggered Communication over Time-Varying Networks with Digraph Topologies
ArXiv.org
07/13/2023
DOI: 10.48550/arxiv.2307.06961
Abstract
n this article, a novel time-coordination algorithm based on event-triggered communications is proposed to achieve coordinated path-following of UAVs. To be specific, in the approach adopted a UAV transmits its progression information over a time-varying network to its neighbors only when a decentralized trigger condition is satisfied, thereby significantly reducing the volume of inter-vehicle communications required when compared with the existing algorithms based on continuous communications. Using such intermittent communications, it is shown that a decentralized coordination controller guarantees exponential convergence of the coordination error to a neighborhood of zero. Also, a lower bound on the interval between two consecutive event-triggered times is provided showing that the chattering issue does not arise with the proposed algorithm. Finally, simulation results validate the efficacy of the proposed algorithm.
Details
- Title: Subtitle
- Coordinated Path Following of UAVs using Event-Triggered Communication over Time-Varying Networks with Digraph Topologies
- Creators
- Hyungsoo KangIsaac KaminerVenanzio CichellaNaira Hovakimyan
- Resource Type
- Preprint
- Publication Details
- ArXiv.org
- DOI
- 10.48550/arxiv.2307.06961
- ISSN
- 2331-8422
- Language
- English
- Date posted
- 07/13/2023
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984445523502771
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