Distributed Consensus of Heterogeneous Linear Time-Varying Systems on UAVs–USVs Coordination

Abstract

This brief addresses the distributed consensus of heterogeneous linear time-varying (LTV) systems composed of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs), where the UAVs and USVs are modeled as integrator agents and Euler-Lagrange (EL) agents, respectively. Given the connected communication topology, sufficient conditions of the designed distributed consensus protocol are derived to achieve the consensus. The parameter impact of EL agents on control performance to coordinate the consensus of UAVs-USVs are analyzed, whose effectiveness has been illustrated through numerical simulations as well.