Coordinated Path Following of UAVs over Time-Varying Digraphs Connected in an Integral Sense
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2023
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| _version_ | 1866911798172581888 |
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| author | Kang, Hyungsoo Kaminer, Isaac Cichella, Venanzio Hovakimyan, Naira |
| author_facet | Kang, Hyungsoo Kaminer, Isaac Cichella, Venanzio Hovakimyan, Naira |
| contents | This paper presents a new connectivity condition on the information flow between UAVs to achieve coordinated path following. The information flow is directional, so that the underlying communication network topology is represented by a time-varying digraph. We assume that this digraph is connected in an integral sense. This is a much more general assumption than the one currently used in the literature. Under this assumption, it is shown that a decentralized coordination controller ensures exponential convergence of the coordination error vector to a neighborhood of zero. The efficacy of the algorithm is confirmed with simulation results. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2307_06553 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Coordinated Path Following of UAVs over Time-Varying Digraphs Connected in an Integral Sense Kang, Hyungsoo Kaminer, Isaac Cichella, Venanzio Hovakimyan, Naira Systems and Control This paper presents a new connectivity condition on the information flow between UAVs to achieve coordinated path following. The information flow is directional, so that the underlying communication network topology is represented by a time-varying digraph. We assume that this digraph is connected in an integral sense. This is a much more general assumption than the one currently used in the literature. Under this assumption, it is shown that a decentralized coordination controller ensures exponential convergence of the coordination error vector to a neighborhood of zero. The efficacy of the algorithm is confirmed with simulation results. |
| title | Coordinated Path Following of UAVs over Time-Varying Digraphs Connected in an Integral Sense |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2307.06553 |