Abstract (EN):
We address the problem of designing decentralized feedback laws to force the outputs of decoupled nonlinear systems (agents) to follow geometric paths while holding a desired formation pattern. To this effect we propose a general framework that takes into account i) the topology of the communication links among the agents, ii) the fact that communications do not occur in a continuous manner, and iii) the cost of exchanging information. We provide conditions under which the resulting overall closed loop system is input-to-state stable and apply the methodology for two cases: agents with nonlinear dynamics in strict feedback form and a class of underactuated vehicles. Furthermore, we address explicitly the case where the communications among the agents occur with non-homogenous, possibly varying delays. A coordinated path-following algorithm is derived for multiple underactuated autonomous underwater vehicles. Simulation results are presented and discussed.
Language:
English
Type (Professor's evaluation):
Scientific
Contact:
antonio@isr.ist.utl.pt; pedro@isr.ist.utl.pt
No. of pages:
7