Title :
Formation stabilization of VTOL UAVs subject to communication delays
Author :
Abdessameud, A. ; Tayebi, A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, ON, Canada
Abstract :
This paper deals with the formation control problem of a team of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) with communication delays. Members of the team are required to converge to (and maintain) a prescribed formation, under a fixed and undirected communication topology. We propose two different control schemes that provide respectively delay-dependent and delay-independent results. The stability of the overall closed loop system in each scheme is established using Lyapunov-Krasovskii functionals.
Keywords :
Lyapunov methods; aircraft; closed loop systems; delays; mobile robots; remotely operated vehicles; stability; telecommunication network topology; Lyapunov-Krasovskii functional; VTOL UAV; closed loop system; communication delay; fixed communication topology; formation control problem; formation stabilization; undirected communication topology; unmanned aerial vehicle; vertical take-off and landing; Aerospace control; Aircraft; Angular velocity; Control design; Delay; Torque; Vehicle dynamics;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5717943
