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Coordinated path-following control for nonlinear systems with logic-based communication

Title
Coordinated path-following control for nonlinear systems with logic-based communication
Type
Article in International Conference Proceedings Book
Year
2007
Authors
Antonio M Pascoal
(Author)
Other
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Conference proceedings International
Pages: 5070-5076
46th IEEE Conference on Decision and Control
New Orleans, LA, DEC 12-14, 2007
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Scientific classification
FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering
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Authenticus ID: P-004-EBE
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
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