Practical Distributed Control for VTOL UAVs to Pass a Virtual Tube

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. An air traffic management (ATM) system is needed help ensure that this newest entrant into the skies does not collide with others. In an ATM, airspace can be composed of airways, intersections xmlns:xlink="http://www.w3.org/1999/xlink">nodes. paper, for simplicity, distributed coordinating motions Vertical TakeOff Landing (VTOL) UAVs pass xmlns:xlink="http://www.w3.org/1999/xlink">airway focused. This formulated as a xmlns:xlink="http://www.w3.org/1999/xlink">tube passing problem , which includes virtual tube, inter-agent collision avoidance keeping within tube. Lyapunov-like functions designed elaborately, formal analysis based on xmlns:xlink="http://www.w3.org/1999/xlink">invariant set theorem made show all tube without getting trapped, avoid keep What more, by proposed control, VTOL UAV away from another or return back soon possible, once it enters safety area has during Simulations experiments carried out effectiveness method comparison other methods.