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 cutting-edge 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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Contributors:


    Publication date :

    2021-06-15


    Size :

    1254920 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Formation Control of VTOL UAVs

    Abdessameud, Abdelkader / Tayebi, Abdelhamid | Springer Verlag | 2013




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

    Alvarez-Munoz, Jonatan Uziel / Escareno, Juan Antonio / Chevalier, Jeremy et al. | IEEE | 2023


    Dynamic Event-Triggered Distributed Formation Consistency Control for Multi-UAVs

    Gai, Wendong / Zheng, Yuqi / Zhang, Guilin et al. | Springer Verlag | 2024