This paper deals with the design of a consensus algorithm for a multi-aircraft (type Quadrotor) leader-follower system. This algorithm uses directed communication topologies, as well as input saturation for the follower agents. The convergence analysis of the proposed strategies is analyzed by using Lyapunov stability theory. Semi-global asymptotic consensus tracking is obtained for the case of leader with input zero, while semi-global practical consensus tracking is achieved for the case of leader with input non-zero. To demonstrate the effectiveness of the proposed solution, a set of simulation results is presented.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Semi-global leader-follower consensus for networked unmanned multi-aircraft systems with input saturation




    Publication date :

    2017-06-01


    Size :

    1236491 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Cyclic Leader-Follower Strategy For Cooperative Unmanned Aerial Vehicles

    Mahfouz, Mohamed / Hafez, Ahmed T. / Ashry, Mahmoud M. et al. | IEEE | 2019


    Obstacle-aware UAV navigation based on a leader-follower consensus protocol

    Rojo-Rodriguez, E. U. / Rojo-Rodriguez, E. G. / Ollervides-Vazquez, E. J. et al. | IEEE | 2022


    Impact of Mobility on Consensus Building in the Leader-Follower Model

    Kandalan, Roya Norouzi / Alla, Sindhu / Rezaeian, Nima Hassan | IEEE | 2019