A distributed explicit reference governor for constrained control of multiple UAVs

Marco M. Nicotra; Mihovil Bartulovic; Emanuele Garone; Bruno Sinopoli

doi:10.1016/j.ifacol.2015.10.323

A distributed explicit reference governor for constrained control of multiple UAVs

Marco M. Nicotra
, Mihovil Bartulovic
, Emanuele Garone
, Bruno Sinopoli

Research output: Contribution to journal › Conference article › peer-review

11 Scopus citations

Abstract

This paper develops a distributed strategy to control multiple UAVs in a confined environment. By pre-stabilizing each agent and using the applied reference as an auxiliary state variable, it is shown that the transient dynamics can be limited to a suitable invariant level-set. Coordination between agents is then addressed using existing tools for first order multi-agent system. The resulting control law is simple, computationally inexpensive and scalable. Moreover, it can easily take into account saturations on the available thrust as well as constraints on the agents' velocity. The effectiveness of the proposed algorithm is presented with several simulation results showing its robustness with respect to external disturbances.

Original language	English
Pages (from-to)	156-161
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	28
Issue number	22
DOIs	https://doi.org/10.1016/j.ifacol.2015.10.323
State	Published - Oct 1 2015
Event	5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2015 - Philadelphia, United States Duration: Sep 10 2015 → Sep 11 2015

Keywords

Collision avoidance
Constrained control
Distributed systems
Explicit referece governor
Unmanned aerial vehicles

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10.1016/j.ifacol.2015.10.323

Cite this

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title = "A distributed explicit reference governor for constrained control of multiple UAVs",

abstract = "This paper develops a distributed strategy to control multiple UAVs in a confined environment. By pre-stabilizing each agent and using the applied reference as an auxiliary state variable, it is shown that the transient dynamics can be limited to a suitable invariant level-set. Coordination between agents is then addressed using existing tools for first order multi-agent system. The resulting control law is simple, computationally inexpensive and scalable. Moreover, it can easily take into account saturations on the available thrust as well as constraints on the agents' velocity. The effectiveness of the proposed algorithm is presented with several simulation results showing its robustness with respect to external disturbances.",

keywords = "Collision avoidance, Constrained control, Distributed systems, Explicit referece governor, Unmanned aerial vehicles",

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note = "Publisher Copyright: {\textcopyright} 2015, IF AC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.; 5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2015 ; Conference date: 10-09-2015 Through 11-09-2015",

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AU - Bartulovic, Mihovil

AU - Garone, Emanuele

AU - Sinopoli, Bruno

PY - 2015/10/1

Y1 - 2015/10/1

N2 - This paper develops a distributed strategy to control multiple UAVs in a confined environment. By pre-stabilizing each agent and using the applied reference as an auxiliary state variable, it is shown that the transient dynamics can be limited to a suitable invariant level-set. Coordination between agents is then addressed using existing tools for first order multi-agent system. The resulting control law is simple, computationally inexpensive and scalable. Moreover, it can easily take into account saturations on the available thrust as well as constraints on the agents' velocity. The effectiveness of the proposed algorithm is presented with several simulation results showing its robustness with respect to external disturbances.

AB - This paper develops a distributed strategy to control multiple UAVs in a confined environment. By pre-stabilizing each agent and using the applied reference as an auxiliary state variable, it is shown that the transient dynamics can be limited to a suitable invariant level-set. Coordination between agents is then addressed using existing tools for first order multi-agent system. The resulting control law is simple, computationally inexpensive and scalable. Moreover, it can easily take into account saturations on the available thrust as well as constraints on the agents' velocity. The effectiveness of the proposed algorithm is presented with several simulation results showing its robustness with respect to external disturbances.

KW - Collision avoidance

KW - Constrained control

KW - Distributed systems

KW - Explicit referece governor

KW - Unmanned aerial vehicles

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M3 - Conference article

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SN - 2405-8971

VL - 28

SP - 156

EP - 161

JO - IFAC-PapersOnLine

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T2 - 5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2015

Y2 - 10 September 2015 through 11 September 2015

ER -

A distributed explicit reference governor for constrained control of multiple UAVs

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