A packet loss compliant logic-based communication algorithm for cooperative path-following control

• Type: Article in International Conference Proceedings Book
• Date: 2013

Authors

Rego, FC (Author) Other; Aguiar, AP (Author) FEUP; Pascoal, AM (Author) Other

Conference proceedings International

Title: IFAC Proceedings Volumes (IFAC-PapersOnline)

Pages: 262-267

9th IFAC Conference on Control Applications in Marine Systems, CAMS 2013

Osaka, 17 September 2013 through 20 September 2013

Indexing

ISI Web of Knowledge

Scopus - 4 Citations

Other information

Authenticus ID: P-009-VVH

DOI: 10.3182/20130918-4-jp-3022.00055

Abstract (EN): We introduce an event driven communication logic for decentralized control of a network of robotic vehicles (agents). The strategy proposed is robust to packet losses and drives the vehicles to predefined paths while holding a desired geometric formation pattern. To this effect, the paper extends an existing cooperative path following framework to consider the practical case where communications among the vehicles occur at discrete instants, instead of continuously. The introduced communication logic takes into account the topology of the communication network, the fact that communications are discrete, and the cost of exchanging information. We also address explicitly communication losses and bounded delays. Conditions are derived under which the overall closed loop system is input-to-state practically stable. The communication logic is applied to a cooperative path-following control system of multiple underactuated autonomous marine robots. Simulation results are presented and discussed. © IFAC.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6