Distributed Coordinated Control for Fixed-Wing UAVs With Dynamic Event-Triggered Communication

Distributed Linear Programming with Event-Triggered Communication

We consider a network of agents whose objective is for the aggregate of their states to converge to a solution of a linear program in standard form. Each agent has limited information about the problem data and can communicate with other agents at discrete time instants of their choosing. Our main contribution is the synthesis of a distributed dynamics and a set of state-based rules, termed tri...

Model Predictive Control for a Swarm of Fixed Wing Uavs

This paper describes an algorithm for the control of a swarm of UAVs based on decentralized MPC. For each UAV, our algorithm first determines the trajectory taking into account the obstacles and the constraints on the aircraft performance. Then basing on a robust MPC algorithm, optimal guidance laws are calculated and tracked by the UAVs by means of local PIDs controllers. Our approach also all...

LPV model reference control for fixed-wing UAVs ?

This paper proposes a linear parameter varying (LPV) model reference-based control for fixed-wing unmanned aerial vehicles (UAVs), which achieves agile and high performance tracking objectives in extended flight envelopes, e.g. when near stall or deep stall flight conditions are considered. Each of the considered control loops (yaw, pitch and airspeed) delivers an error model that can be reshap...

Dynamic Modeling of Fixed-Wing UAVs (Fixed-Wing Unmanned Aerial Vehicles)

A class of distributed optimization methods with event-triggered communication

We present a class of methods for distributed optimization with event-triggered communication. To this end, we extend Nesterov’s first order scheme to use event-triggered communication in a networked environment. We then apply this approach to generalize the proximal center algorithm (PCA) for separable convex programs by Necoara and Suykens. Our method uses dual decomposition and applies the d...