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

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2007

Autores

Pedro P Aguiar (Autor) Outra; Antonio M Pascoal (Autor) Outra

Ata de Conferência Internacional

Título: PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14

Páginas: 5070-5076

46th IEEE Conference on Decision and Control

New Orleans, LA, DEC 12-14, 2007

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 44 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-004-EBE

DOI: 10.1109/cdc.2007.4434835

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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 7