RESUMO
In this paper, a dual-band graphene coplanar waveguide antenna is designed for smart cities and internet of things applications. A graphene film is chosen as the conductive material for the radiation patches and ground plane with a thickness of 240 µm and an electric conductivity of 3.5 × 105 S/m. The dielectric is glass with a dielectric permittivity of 6 and a thickness of 2 mm. The implementation of the antenna on glass permits the integration of the antenna in smart cities and IoT applications. This antenna is based on two trapezoidal patches that generate the dual-band behavior. The overall dimensions of the antenna are 30 mm × 30 mm × 2 mm. The reflection coefficient, gain, and radiation patterns were measured and compared with the simulations. The antenna covers two frequency bands; the lower band covers the 2.45 GHz ISM band, and the upper band range covers from 4 to 7 GHz.
RESUMO
This article presents the design and implementation of an event-triggered control approach, applied to the leader-following consensus and formation of a group of autonomous micro-aircraft with capabilities of vertical take-off and landing (VTOL-UAVs). The control strategy is based on an inner-outer loop control approach. The inner control law stabilizes the attitude and position of one agent, whereas the outer control follows a virtual leader to achieve position consensus cooperatively through an event-triggered policy. The communication topology uses undirected and connected graphs. With such an event-triggered control, the closed-loop trajectories converge to a compact sphere, centered in the origin of the error space. Furthermore, the minimal inter-sampling time is proven to be below bounded avoiding the Zeno behavior. The formation problem addresses the group of agents to fly in a given shape configuration. The simulation and experimental results highlight the performance of the proposed control strategy.
