Abstract
The cornerstone of effective topology design for networked systems is the appreciation of the interplay between system performance and network structure. In this chapter, we examine the problem of unmanned aerial vehicle (UAV) swarming in the presence of wind gusts. Firstly, we model an altitude consensus-based leader–follower model exposed to gust disturbances. We then proceed to examine system-theoretic and topological features that promote network disturbance rejection. Specifically the open loop \(\mathcal{H}_{2}\) norm of the system is selected as a performance metric. Its topological features are highlighted via a realization of the open loop \(\mathcal{H}_{2}\) norm in terms of the effective resistance of the corresponding electrical network. We subsequently utilize mixed-integer semidefinite programming (MISDP) to generate the optimal unweighed network to minimize this metric. This is then followed by exploiting the open loop \(\mathcal{H}_{2}\) norm related topological features to design a network rewiring protocol to maximize this metric. Finally, these topology design tools are applied to wind gust rejection in disturbed swarming scenarios, demonstrating the viability of topology-assisted design for improved performance.
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- 1.
Rayleigh’s Monotonicity Law states that if the edge resistance in an electrical network is decreased, then the effective resistance between any two agents in the network can only decrease [1].
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Chapman, A. (2015). Network Topology Design for UAV Swarming with Wind Gusts. In: Semi-Autonomous Networks. Springer Theses. Springer, Cham. https://doi.org/10.1007/978-3-319-15010-9_5
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DOI: https://doi.org/10.1007/978-3-319-15010-9_5
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