ABSTRACT
This paper proposes a method for adaptive consensus control of quadrotor UAV swarms under time-varying directed communication topologies. It addresses challenges like nonlinear dynamics, parametric uncertainties, dynamic directed communication, and external disturbances. A hierarchical control architecture is developed to ensure stability and consensus convergence.
PAPER · PDF
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Key findings
Proposes a unified adaptive consensus framework for quadrotor swarms on dynamic digraphs.
Develops a novel dwell-time condition ensuring stability under fast switching.
Includes comprehensive experimental protocols and risk analysis with mitigation strategies.
Limitations & open questions
The paper does not discuss the scalability of the proposed method for larger swarms.