Event-Based Formation Control of Multiple Quadrotors on SO(3)

Abstract

This paper is concerned with the formation problem of multiple quadrotors, and an event-based control strategy is proposed. The communication topology and relative positions of formation are first considered, and then the model of multiple quadrotors system is developed on the special orthogonal group SO(3). By designing the trigger function, certain events are generated for each quadrotor. Then, the formation controller is driven to update its parameters according to the events. The attitude controller on SO(3) is designed for tracking of the command and stabilization. By the proposed method continuous communication is not required between quadrotors, and it is proved that the quadrotors could achieve the desired formation. Simulation illustrates that the proposed event-based formation control method is effective.

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

“…Knowing the advantages offered by the event-based control techniques, these ones are being applied to multi-robot systems, as in [12], which reports the design of an event-based formation controller applied to terrestrial nonholonomic robots. The works presented in [13] and [14] propose and validate respectively, through simulations and experimental stages, different eventbased control strategies for the formation of multiple quadrotors modeled as a second-order multi-agent system. In addition, [15] proves, through simulations the effectiveness of an eventbased distributed model predictive control for the formation of multiple UAVs.…”

Event-Triggered Finite-Time Attitude Cooperative Control for Multiple Unmanned Aerial Vehicles

“…However, the mentioned works with attitude control did not consider the uncertain parameters. Based on event-triggered strategy, time-varying formation problem was investigated for MUAVs under switching topology [ 17 ], attitude formation on SO ( 8 ) [ 18 ], and dynamical consensus formation problem which was limited by time-varying disturbances [ 19 ]. However, external disturbances and inertial matrix uncertainty cannot avoid in practical environment.…”