Lyapunov-based Approach for Time-Coordinated 3D Path-Following of Multiple Quadrotors in SO(3).

摘要

This paper focuses on the problem of developing control laws to solve the Time-Coordinated 3D Path-Following task for multiple Quadrotor UAVs in the presence of time-varying communication networks and spatial and temporal constraints. The objective is to enable n Quadrotors to track predefined spatial paths (parameterized by virtual time) while coordinating to achieve synchronization in time. One scenario is a symmetric exchange of position by four Quadrotors initially positioned in four corners of a square room. When the mission starts, every quadrotor is required to execute collision free maneuvers and arrive at the opposite corner at the same desired instant of time. In this paper, the path-following control algorithm is derived using the Special Orthogonal group theory (SO(3)), thus avoiding singularities that arise when dealing with local parameterizations of the vehicle's attitude. The coordination task is solved by adjusting the second derivative of the virtual time along the spatial paths.