Distributed Formation Control of Multiple Unmanned Aerial Vehicles over Time-varying Graphs using Population Games

JULIAN BARREIRO-GOMEZ,; IGNACIO MAS; CARLOS OCAMPO-MARTINEZ; RICARDO SANCHEZ PEÑA; NICANOR QUIJANO

Las Vegas

Congreso; 2016 IEEE Conference on Decision and Control (CDC); 2016

IEEE

This paper presents a control technique based ondistributed population dynamics under time-varying communicationgraphs for a multi-agent system structured in a leader-followerfashion. Here, the leader agent follows a particulartrajectory and the follower agents should track it in a certainorganized formation manner. The tracking of the leader canbe performed in the position coordinates x; y; and z, and inthe yaw angle . Additional features are performed with thismethod: each agent has only partial knowledge of the position ofother agents and not necessarily all agents should communicateto the leader. Moreover, it is possible to integrate a new agentinto the formation (or for an agent to leave the formation task)in a dynamical manner. In addition, the formation configurationcan be changed along the time, and the distributed population-games-based controller achieves the new organization goalaccommodating conveniently the information-sharing graph infunction of the communication range capabilities of each UAV.Finally, several simulations are presented to illustrate differentscenarios, e.g., formation with time-varying communicationnetwork, and time-varying formation.