Robust Decentralized Switching Control of UAVs using UWB-based Localization and Cooperation

摘要

In this paper, we implement a switched decentralized controller, along with a proposed communication protocol, to control a nested multi-agent system without the need for a centralized processing node. More specifically, we apply a recently developed method for switched systems synthesis, which gives exact conditions for existence of a block-lower triangular path-dependent controller with L2 induced norm performance. The synthesis conditions are given in the form of a semidefinite program (SDP), which is computed offline for a predefined switching sequence. Each robot is equipped with a ultra-wideband (UWB) unit, which allows it to both estimate its position and communicate with other robots.