Formation stabilization of VTOL UAVs subject to communication delays
Abdelkader Abdessameud, Abdelhamid Tayebi · 2010
This paper deals with the formation control problem of a team of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) with communication delays. Members of the team are required to converge to (and maintain) a prescribed formation, under a fixed and undirected communication topology. We propose two different control schemes that provide respectively delay-dependent and delay-independent results. The stability of the overall closed loop system in each scheme is established using Lyapunov-Krasovskii functionals.