Distributed Finite-Time Coverage Control of Multi-Quadrotor Systems with Switching Topology

This paper studies the distributed coverage control problem of multi-quadcopter systems connected with fixed and switching network topologies to guarantee the finite-time convergence. The proposed method modifies the objective function originating from the locational optimization problem to accommod...

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Bibliographic Details
Published in:Mathematics (Basel) 2023-06, Vol.11 (12), p.2621
Main Authors: Tnunay, Hilton, Moussa, Kaouther, Hably, Ahmad, Marchand, Nicolas
Format: Article
Language:English
Subjects:
Automatic
Centroids
Communication
Control algorithms
Control systems
Control theory
Controllers
coverage control
distributed control
Engineering Sciences
finite-time stability
Food science
Helicopters
multiagent systems
Network topologies
Numerical analysis
Optimization
quadcopter
robotic sensor network
Robots
Sensors
Switching
Unmanned aerial vehicles
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Summary:This paper studies the distributed coverage control problem of multi-quadcopter systems connected with fixed and switching network topologies to guarantee the finite-time convergence. The proposed method modifies the objective function originating from the locational optimization problem to accommodate the consensus constraint and solves the problem within a given time limit. The coverage problem is solved by sending angular-rate and thrust commands to the quadcopters. By exploiting the finite-time stability theory, we ensure that the rotation and translation controllers of the quadcopters are finite-time stable both in fixed and switching communication topologies, able to be implemented distributively, and able to collaboratively drive the quadcopters towards the desired position and velocity of the Voronoi centroid independent of their initial states. After carefully designing and analyzing the performance, numerical simulations using a Robot Operating System (ROS) and Gazebo simulator are presented to validate the effectiveness of the proposed control protocols.
ISSN:2227-7390
2227-7390
DOI:10.3390/math11122621