In this paper, the problem of generating safe trajectories for multi-agent systems in the presence of wind and dynamic obstacles is considered. A robust controller is designed to counteract a class of state disturbances that can be thought of as wind disturbance for aerial vehicles. The considered disturbance is unmatched, bounded with known bounds, with no assumptions on the regularity properties or the distribution of the disturbance. It is also assumed that only partial states are observed, and finite-time state-estimator-based finite-time state-feedback control is used to generate the system trajectories. It is shown that, even with limited and erroneous sensing, agents are capable of avoiding collisions with moving obstacles and with each other. The designed protocol is distributed, scalable with the number of agents, and of provable safety and convergence guarantees.


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    Title :

    Finite-Time Estimation and Control for Multi-Aircraft Systems Under Wind and Dynamic Obstacles


    Contributors:

    Published in:

    Publication date :

    2019-03-06


    Size :

    17 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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