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arXiv · 2307.06961

Coordinated Path Following of UAVs using Event-Triggered Communication over Time-Varying Networks with Digraph Topologies

Hyungsoo Kang·Isaac Kaminer·Venanzio Cichella·Naira Hovakimyan
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Abstract

In this article, a novel time-coordination algorithm based on event-triggered communications is proposed to achieve coordinated path-following of UAVs. To be specific, in the approach adopted a UAV transmits its progression information over a time-varying network to its neighbors only when a decentralized trigger condition is satisfied, thereby significantly reducing the volume of inter-vehicle communications required when compared with the existing algorithms based on continuous communications. Using such intermittent communications, it is shown that a decentralized coordination controller guarantees exponential convergence of the coordination error to a neighborhood of zero. Also, a lower bound on the interval between two consecutive event-triggered times is provided showing that the chattering issue does not arise with the proposed algorithm. Finally, simulation results validate the efficacy of the proposed algorithm.

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Hyungsoo Kang, Isaac Kaminer, Venanzio Cichella, Naira Hovakimyan. 2023-07-13. Coordinated Path Following of UAVs using Event-Triggered Communication over Time-Varying Networks with Digraph Topologies. https://arxiv.org/abs/2307.06961

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