Brief paper: Stability robustness of networked control systems with respect to packet loss
Automatica (Journal of IFAC)
Output synchronization of networked passive systems
Output synchronization of networked passive systems
Stability of an Asynchronous Swarm With Time-Dependent Communication Links
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Distributed receding horizon control for multi-vehicle formation stabilization
Automatica (Journal of IFAC)
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In this paper, the impact of the medium access protocols on the average consensus problem over wireless networks for a group of quadrotors is established. The stabilization of each helicopter is guaranteed using a simple and bounded nonlinear control strategy. We study the case of a group of quadrotors communicating over a wireless network considering both directed and undirected graphs of information flow. It turns out that the media access control (MAC) protocols have a direct impact in both convergence time and average consensus solution, i.e., the solution of the average consensus is no longer the average of the initial conditions. It will be shown that the solution for the average consensus problem over a wireless network depends directly on the MAC algorithm. Simulations are provided to demonstrate the theoretical results. In addition, to validate the control strategy some experimental tests have been carried out to control the yaw angle of two quadrotors.