Coordinated Path Following of Multiple UAVs for Time-Critical Missions in the Presence of Time-Varying Communication Topologies
Author
Aguiar, A.P.
Kaminer, I.
Ghabcheloo, R.
Pascoal, A.M.
Xargay, E.
Hovakimyan, N.
Cao, C.
Dobrokhodov, V.
Date
2008Metadata
Show full item recordAbstract
We address the problem of steering multiple unmanned air vehicles (UAVs) along
given paths (path-following) under strict temporal coordination constraints requiring, for
example, that the vehicles arrive at their final destinations at exactly the same time. Pathfollowing
relies on a nonlinear Lyapunov based control strategy derived at the kinematic level
with the augmentation of existing autopilots with L1 adaptive output feedback control laws to
obtain inner-outer loop control structures with guaranteed performance. Multiple vehicle timecritical
coordination is achieved by enforcing temporal constraints on the speed profiles of the
vehicles along their paths in response to information exchanged over a dynamic communication
network. We consider that each vehicle transmits its coordination state to only a subset of the
other vehicles, as determined by the communications topology adopted. We address explicitly
the case where the communication graph that captures the underlying communication network
topology may be disconnected during some interval of time (or may even fail to be connected
at any instant of time) and provide conditions under which the closed-loop system is stable.
Flight test results obtained at Camp Roberts, CA in 2008 and hardware-in-the-loop (HITL)
simulations demonstrate the benefits of the algorithms developed.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Collections
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