Constrained Control of UAV Swarms Using Event-triggered Distributed Explicit Reference Governor

Abstract

In this paper, we propose a distributed strategy to control and drive multiple UAVs to the target locations under the confined environment with obstacle and agent avoidance. The explicit reference governor (ERG) is a simple and systematic approach that provides constraint handling capabilities to prestabilized systems. When designing the ERG, one of the main challenges is the determination of dynamic safety margin that ensures constraints satisfaction. To do this, the robustness to uncertainty is taken into the margin design and provides the invariance property; the dynamic event-triggering mechanism is applied to the optimization of the threshold in the designed margin subject to concave collision constraints. Numerical simulations are performed to investigate the performance of our proposed methodology.