Consenso Disparado por Eventos de Múltiples VANTs Bajo el Esquema Líder-Seguidor (I)

Resumen: El artículo presenta resultados obtenidos del diseño y desarrollo de una estrategia de control disparado por eventos para aportar una solución al problema de consenso y formación bajo un esquema líder-seguidor; aplicado a un grupo de VANT tipo VTOL. En este trabajo, los vehículos transmiten información entre sus vecinos inmediatos a través de una red representada por un grafo dirigido y fuertemente conectado. El intercambio de información entre vehículos es activado mediante un control descentralizado, permitiendo a cada VANT decidir el momento de transmitir su estado a sus vecinos. La factibilidad del esquema de control propuesto para consenso y formación deseada son mostrados mediante simulaciones númericas.

¿Cómo citar?

A. Vega-Alonzo, J. F. Guerrero-Castellanos, A. Pulido-Flores, S. Durand ∗∗ G. Mino-Aguilar & N. Marchand. Consenso Disparado por Eventos de Múltiples VANTs Bajo el Esquema Líder-Seguidor (I). Memorias del Congreso Nacional de Control Automático, pp. 182-188, 2019.

Palabras clave

Sistemas Multi-Agente, Control de Sistemas No Lineales, Tecnología para Control

• Ahmed, N., Cortes, J., and Martinez, S. (2016a). Distributed control and estimation of robotic vehicle networks: Overview of the special issue. IEEE Control Systems, 36(2), 36–40.
• Ahmed, N., Cortes, J., and Martinez, S. (2016b). Distributed control and estimation of robotic vehicle networks: Overview of the special issue-part II. IEEE Control Systems, 36(4), 18–21.
• Anta, A. and Tabuada, P. (2010). To sample or not to sample: Self-triggered control for nonlinear systems. Automatic Control, IEEE Transactions on, 55(9), 2030–2042.
• Arzén, K.E. (1999). A simple event-based PID controller. In Preprints 14th World Congress of IFAC. Beijing, P.R. China.
• Aström, K.J. and Bernhardsson, B. (2002). Comparison of riemann and lebesque sampling for first order stochastic systems. In Proceedings of the 41st IEEE Conference on Decision and Control, 2002, volume 2, 2011–2016. IEEE.
• Du, H., Zhu, W., Wen, G., Duan, Z., and L¨u, J. (2019). Distributed formation control of multiple quadrotor aircraft based on nonsmooth consensus algorithms. IEEE Transactions on Cybernetics, 49(1), 342–353.
• Guerrero-Castellanos, J.F., Madrigal-Sastre, H., Durand, S., Marchand, N., Guerrero-S´anchez, W.F., and Salmer´on, B.B. (2011). Design and implementation of an attitude and heading reference system (ahrs). In 2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, 1–5. doi:10.1109/ICEEE.2011.6106610.
• Guerrero-Castellanos, J.F., Marchand, N., Hably, A., Lesecq, S., and Delamare, J. (2011). Bounded attitude control of rigid bodies: Real-time experimentation to a quadrotor mini-helicopter. Control Engineering Practice, 19(8), 790–797.
• Guinaldo, M., S´anchez, J., and Dormido, S. (2016). Distributed adaptive control of linear multi-agent systems with event-triggered communications. Applied Mathematics and Computation, 274, 195 – 207. doi:https://doi.org/10.1016/j.amc.2015.10.090.
• Lewis, F.L., Zhang, H., Hengster-Movric, K., and Das, A. (2013). Cooperative control of multi-agent systems: optimal and adaptive design approaches. Springer Science & Business Media.
• Marchand, N., Durand, S., and Guerrero-Castellanos, J.F. (2013). A general formula for event-based stabilization of nonlinear systems. Automatic Control, IEEE Transactions on, 58(5), 1332–1337.
• Mazo Jr, M., Anta, A., and Tabuada, P. (2009). On self-triggered control for linear systems: Guarantees and complexity. In Control Conference (ECC), 2009 European, 3767–3772. IEEE.
• Meissen, C., Klausen, K., Arcak, M., Fossen, T.I., and Packard, A. (2017). Passivity-based formation control for uavs with a suspended load. IFAC-PapersOnLine, 50(1), 13150 – 13155. 20th IFAC World Congress.
• Nicotra, M.M., Garone, E., Naldi, R., and Marconi, L. (2014). Nested saturation control of an uav carrying a suspended load. In 2014 American Control Conference, 3585–3590. doi:10.1109/ACC.2014.6859222.
• Peng, X., Guo, K., and Geng, Z. (2019). Full state tracking and formation control for under-actuated vtol uavs. IEEE Access, 7, 3755–3766.
• Ren, W. and Beard, R.W. (2008). Distributed consensus in multi-vehicle cooperative control. Springer.
• Sepulchre, R., Jankovic, M., and Kokotovi´c, P.V. (1997). Constructive Nonlinear Control. Springler, London.
• Tabuada, P. (2007). Event-triggered real-time scheduling of stabilizing control tasks. Automatic Control, IEEE Transactions on, 52(9), 1680–1685.
• Teel, A.R. (1992). Global stabilization and restricted tracking for multiple integrators with bounded controls. Systems Control Letters, 18(3), 165 – 171. doi:https:// doi.org/10.1016/0167-6911(92)90001-9.
• Thunberg, J., Goncalves, J., and Hu, X. (2016). Consensus and formation control on se(3) for switching topologies. Automatica, 66, 109 – 121. doi:https://doi. org/10.1016/j.automatica.2015.12.035.
• Zavala, A., Fantoni, I., and Lozano, R. (2003). Global stabilization of a pvtol aircraft model with bounded inputs. International Journal of Control, 76(18), 1833–1844.