Event-based time varying formation control for multiple quadrotor UAVs with Markovian switching topologies
type: Item
instance of: scholarly article
title: Event-based time varying formation control for multiple quadrotor UAVs with Markovian switching topologies
zbMATH Open document ID: 1407.93278
DOI: 10.1155/2018/8124861
author: Zhen Zhou
author: Hongbin Wang
author: Zhongquan Hu
published in: Complexity
publication date: 2019-02-18T00:00:00Z
review text: Summary: Time varying formation control problem for a group of quadrotor Unmanned Aerial Vehicles (UAVs) under Markovian switching topologies is investigated through a modified dynamic event-triggered control protocol. The formation shape is specified by a time varying vector, which prescribes the relative positions and bearings among the whole agents. Instead of the general stochastic topology, the graph is governed by a set of Markov chains to the edges, which can recover the traditional Markovian switching topologies in line with the practical communication network. The stability proof for the state space origin of the overall closed-loop system is derived from the singular perturbation method and Lyapunov stability theory. An event-triggered formation control protocol in terms of a dynamically varying threshold parameter is delicately carried out, while acquiring satisfactory resource efficiency, and Zeno behavior of triggering time sequences is excluded. Finally, simulations on six quadrotor UAVs are given to verify the effectiveness of the theoretical results.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C65
Mathematics Subject Classification ID: 93E03
Mathematics Subject Classification ID: 68T40
Mathematics Subject Classification ID: 93C70
Mathematics Subject Classification ID: 93D05
zbMATH DE Number: 7024560
zbMATH Keywords: event-based time varying formation control
zbMATH Keywords: multiple quadrotor UAVs
zbMATH Keywords: Markovian switching topologies
zbMATH Keywords: Markov chains
zbMATH Keywords: singular perturbation method
zbMATH Keywords: Lyapunov stability
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/8124861
OpenAlex ID: W2802428041
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Wikidata QID: Q129939882
description: scientific article; zbMATH DE number 7024560