Cooperative path‐following control for UAVs with communication constraints and dynamic event‐triggered communication

Abstract This article tackles the problem of the cooperative path‐following of multiple unmanned aerial vehicles ( UAV s) with limited communication resources. A nonlinear path‐following control law is proposed to achieve path tracking without temporal constraints. It ensures that the distance between the UAV s and their desired path will converge to zero. To handle the cooperative problem under the resource constraints, such as transceiver energy and communication limitations, we propose a dynamic event‐triggered cooperative control protocol. The closed‐loop system under our approach achieves input‐to‐state (ISS) stability corresponding to its state, effectively managing coordination and path‐following errors for each vehicle. Comprehensive computer simulations in two‐dimensional settings are used to illustrate the effectiveness of our proposal. It shows that multiple UAV s cooperate and follow the predefined paths in two dimensions despite communication constraints.