Formation control of VTOL Unmanned Aerial Vehicles with communication delays

Authors:
Abdelkader Abdessameud;Abdelhamid Tayebi
Affiliations:
Department of Electrical and Computer Engineering, University of Western Ontario, London, Ontario, Canada, N6A 3K7;Department of Electrical and Computer Engineering, University of Western Ontario, London, Ontario, Canada, N6A 3K7 and Department of Electrical Engineering, Lakehead University, Thunder Bay, Ontar ...
Venue:
Automatica (Journal of IFAC)
Year:
2011

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Abstract

The formation control problem of a team of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) with communication delays is addressed. Based on the extraction algorithm presented in Abdessameud and Tayebi (2010a), we propose a new design methodology that simplifies the design of formation control laws with delayed communication for this class of under-actuated systems. Three control schemes are presented that provide delay-dependent and delay-independent results with constant and time-varying communication delays. The stability of the overall closed loop system in each scheme is established using Lyapunov-Krasovskii functionals. The proposed design methodology achieves global results in terms of the position and removes the requirement of the linear-velocity measurements. Simulation results are provided to show the effectiveness of the proposed control schemes.