Name
Abstract | ||
|---|---|---|
This paper studies circular formation control of multi-vehicle systems, modeled with unicycle dynamics, in a uniform flowfield with different temporal phase arrangements, while assuring that the trajectories of the vehicles remains bounded within a region. Using the idea of Barrier Lyapunov function in conjunction with temporal phase potential functions, we derive control laws that achieves our objectives, under a mild assumption on the initial states of the vehicles. We further obtain bounds on the various signals in the post-design analysis and show that these depends on the initial conditions and controller gains. Simulations are provided to illustrate the theoretical findings. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/MED.2019.8798531 | 2019 27th Mediterranean Conference on Control and Automation (MED) |
Keywords | Field | DocType |
Multi-agent systems,cooperative control,nonlinear control,stabilization,Barrier Lapunov Function | Control theory,Computer science,Nonlinear control,Control theory,Barrier lyapunov function,Multi-agent system,Bounded function | Conference |
ISSN | ISBN | Citations |
2325-369X | 978-1-7281-2804-7 | 0 |
PageRank | References | Authors |
0.34 | 14 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Anoop Jain | 1 | 48 | 6.38 |
| Daniel Zelazo | 2 | 379 | 30.74 |