Distributed Event-Based Sliding-Mode Consensus Control in Dynamic Formation for VTOL-UAVs

Abstract

The present work deals with consensus control for a multi-agent system composed by mini Vertical Takeoff and Landing (VTOL) rotorcrafts by means of a novel nonlinear event-based control law. First, the VTOL system modeling is presented using the quaternion parametrization to develop an integral sliding-mode control law for attitude stabilization of the aerial robots. Then, the vehicle position dynamics is expanded to the multi-agent case where a cuttingedge event-triggered sliding-mode control is synthesized to fulfill the collective consensus objective within a formation context. With its inherent robustness and reduced computational cost, the aforementioned control strategy guarantees closed-loop stability, while driving trajectories to the equilibrium in the presence of time-varying disturbances. Finally, for validation and assessment purposes of the overall consensus strategy, an extensive numerical simulation stage is conducted.

Wind-Tolerant Event-Based Adaptive Sliding-Mode Control for VTOL Rotorcrafts Multi-Agent Systems

“…where k i > 0 ∈ R 3×3 are diagonal matrices being the super twisting gains. asign(s i ) is a reaching law with a > 0 ∈ R 3×3 a diagonal matrix, used similarly to [16]. With this, the closed loop error dynamics ṡi is given by…”

“…This paper is an extension of our previous work [16] and it aims at investigating the efficient coordination control of a VTOL rotorcrafts MAS based on a robust event-based control scheme evolving within fluctuating atmospheric conditions. Then, the contributions of this work are summarized next:…”

Corridor 3D Navigation of a Fully-Actuated Multirotor by Means of Bee-Inspired Optic Flow Regulation

“…To avoid any possible singularity, the unit quaternion representation [22], [23], [24] is adopted instead. Consider the orthogonal right-handed coordinate frames O b and O I , the rotation of O b w.r.t.…”

“…T stands as the conjugate of q d and ⊗ denotes the quaternion multiplication. To achieve q d , AI-SMCs [24], [26] were implemented. In this vein, the sliding surfaces read as:…”

“…Thus, asymptotic local stability is guaranteed. For a detailed analysis, refer to [24], [26] and the corresponding references therein.…”