Robust Consensus of High-Order Systems under Output Constraints: Application to Rendezvous of Underactuated UAVs
Résumé
We address the output and state consensus problems for multi-agent high-order systems in feedback form under realistic conditions. First, under the premise that measurements may be of different kinds, we consider systems interconnected over undirected-topology networks as well as directed spanning-trees and directed cycles. Second, we assume that the systems may be subject to multiple restrictions in the form of output or state constraints, such as limited-range measurements, physical limitations imposed by the actuators or by the environment, etc. In addition, we suppose that the systems may be subject to external disturbances, such as undesired forces or modeling uncertainties. Under these conditions, we provide a control framework and a formal analysis that establishes robust stability in the input-to-state sense. The former relies on a modified backstepping method and the latter on multistability theory. In addition, we show how our approach applies to meaningful problems of physical systems through a case-study of interest in the aerospace industry: safetyaware rendezvous control of underactuated UAVs subject to connectivity and collision-avoidance constraints.
Domaines
Automatique
Origine : Fichiers produits par l'(les) auteur(s)