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Robust Sampled-Data Consensus-Based Cooperative Control of Multi–UAVs

In this paper, the sampled–data formation control problem of multi unmanned aerial vehicles (UAVs), affected by actuation disturbances and observation errors, over strongly directed networks is studied. In particular, a robust consensus based sampled–data protocol enabling a connected and leaderless swarm of UAVs to reach a desired formation in altitude and position is proposed. The provided sampled–data control algorithm relies on the architecture of leaderless consensus, in which each UAV communicates with the adjacent UAVs only and, furthermore, on the input-to-state stability redesign methodology which is used in order to attenuate the effects of any bounded actuation disturbance and of any sufficiently small observation error. A sampled–data control strategy for the collision avoidance of adjacent UAVs is also included. The theory of the stabilization in the sample–and–hold sense is used as a tool in order to prove that the sampled–data leaderless consensus of the multi–UAVs swarm is ensured, regardless of the above disturbances and errors. Actuator disturbances are assumed to be bounded with arbitrarily large a-priori known bound. Simulations show the good performances of the proposed robust sampled–data control algorithm.