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

Author

Listed:
  • Hilton Tnunay

    (KU Leuven, Faculty of Engineering Technology, 9000 Ghent, Belgium)

  • Kaouther Moussa

    (UPHF, CNRS, UMR 8201 - LAMIH, F-59313 Valenciennes, France
    INSA Hauts-de-France, F-59313 Valenciennes, France)

  • Ahmad Hably

    (Univ. Grenoble Alpes, CNRS, Grenoble INP, GIPSA-lab, 38000 Grenoble, France)

  • Nicolas Marchand

    (Univ. Grenoble Alpes, CNRS, Grenoble INP, GIPSA-lab, 38000 Grenoble, France)

Abstract

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.

Suggested Citation

  • Hilton Tnunay & Kaouther Moussa & Ahmad Hably & Nicolas Marchand, 2023. "Distributed Finite-Time Coverage Control of Multi-Quadrotor Systems with Switching Topology," Mathematics, MDPI, vol. 11(12), pages 1-18, June.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:12:p:2621-:d:1166654
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    References listed on IDEAS

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    1. Okabe, Atsuyuki & Suzuki, Atsuo, 1997. "Locational optimization problems solved through Voronoi diagrams," European Journal of Operational Research, Elsevier, vol. 98(3), pages 445-456, May.
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