Coordinated path-following control of multiple underactuated autonomous vehicles in the presence of communication failures

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2006, Pages 4345-4350

  Ghabcheloo, Reza ^a   Aguiar, A Pedro ^a   Pascoal, Antonio ^a   Silvestre, Carlos ^a   Kaminer, Isaac ^b   Hespanha, João ^c  

^a INSTITUTO SUPERIOR TÉCNICO   (Portugal)

^b Naval Postgraduate School ^*  (United States)

^c University of California   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; CONVERGENCE OF NUMERICAL METHODS; GRAPH THEORY; LYAPUNOV METHODS; PROBLEM SOLVING;

COMMUNICATION FAILURES; ERROR VARIABLES; INTER-VEHICLE FORMATION PATTERN; UNDERACTUATED AUTONOMOUS VEHICLES; UNDERWATER VEHICLES;

UNMANNED VEHICLES;

EID: 39549085820     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/cdc.2006.376989     Document Type: Conference Paper

References (23)

1. A. P. Aguiar, "Nonlinear motion control of nonholonomic and under-actuated systems," Ph.D. dissertation, Dept. Electrical Engineering, Instituto Superior Técnico, IST, Lisbon, Portugal, 2002.
2. A. P. Aguiar and J. P. Hespanha, "Logic-based switching control for trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty," in Proc. of the 2004 Amer. Contr. Conf, Boston, MA, USA, June 2004.
3. A. P. Aguiar and A. M. Pascoal, "Modeling and control of an autonomous underwater shuttle for the transport of benthic laboratories," in Proc. of the Oceans'97 Conf, Halifax, Nova Scotia, Canada, Oct. 1997.
4. A. P. Aguiar and J. P. Hespanha, "Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty," IEEE Trans. on Automat. Contr. In press.
5. R. Beard, J. Lawton, and F. Hadaegh, "A coordination architecture for spacecraft formation control," IEEE Trans. on Contr. Systems Tech., vol. 9, pp. 777-790, 2001.
6. V. D. Blondel, J. M. Hendrickx, A. Olshevsky, and J. N. Tsitsiklis, "Convergence in multiagent coordination, consensus, and nocking," in Proc. of the 44th IEEE CDC-ECC, 2005.
7. J. Desai, J. Otrowski, and V. Kumar, "Controlling formations of multiple robots," IEEE Trans. on Contr. Systems Tech., vol. 9, pp. 777-790, 2001.
8. P. Encarnação and A. Pascoal, "Combined trajectory tracking and path following: an application to the coordinated control of marine craft," in Proc. IEEE Conf. Decision and Control (CDC), Orlando, Florida, 2001.
9. A. Fax and R. Murray, "Information flow and cooperative control of vehicle formations," in Proc. 2002 IFAC World Congress, Barcelona, Spain, 2002.
10. T. Fossen, Guidance and Control of Ocean Vehicles. John Willey & Sons, Inc., New York., 1994.
11. R. Ghabcheloo, A. Pascoal, C. Silvestre, and I. Kaminer, "Coordinated path following control using nonlinear techniques," Instituto Superior Técnico-ISR, Internal report CPF02NL, 2005.
12. _, "Nonlinear coordinated path following control of multiple wheeled robots with bidirectional communication constraints," Int. J. Adapt. Control Signal Process, 2006, in press.
13. F. Giuletti, L. Pollini, and M. Innocenti, "Autonomous formation flight," IEEE Control Systems Magazine, vol. 20, pp. 33-34, 2000.
14. C. Godsil and G. Royle, Algebraic Graph Theory. Graduated Texts in Mathematics, Springer-Verlag New York, Inc., 2001.
15. J. M. Hespanha, O. A. Yakimenko, I. I. Kaminer, and A. M. Pascoal, "Linear parametrically varying systems with brief instabilities: An application to vision/inertial navigation," IEEE Trans. on Aerospace and Electronics Systems, vol. 40, no. 3, pp. 889-900, Jul. 2004.
16. Z. P. Jiang, A. Teel, and L. Praly, "Small-gain theorem for ISS systems and applications," Math. Control, Signals and Systems, vol. 7, pp. 95-120, 1994.
17. L. Lapierre, D. Soetanto, and A. Pascoal, "Coordinated motion control of marine robots," in Proc. 6th IFAC Conference on Manoeuvering and Control of Marine Craft (MCMC), Girona, Spain, 2003.
18. P. Ögren, M. Egerstedt, and X. Hu, "A control lyapunov function approach to multiagent coordination," IEEE Trans. on Robotics and Automation, vol. 18, pp. 847 - 851, Oct. 2002.
19. M. Pratcher, J. D'Azzo, and A. Proud, "Tight formation control," Journal of Guidance, Control and Dynamics, vol. 24, no. 2, pp. 246-254, March-April 2001.
20. R. Skjetne, T. I. Fossen, and P. K. Kokotović, "Robust output maneuvering for a class of nonlinear systems," Automatica, vol. 40, no. 3, pp. 373-383, 2004.
21. R. Skjetne, S. Moi, and T. I. Fossen, "Nonlinear formation control of marine craft," in Proc. of the 41st Conf. on Decision and Contr., Las Vegas, NV, 2002.
22. E. D. Sontag and Y. Wang, "New characterizations of input-to-state stability," IEEE Trans. on Automatic Control, vol. 41, no. 9, pp. 1283-1294, 1996.
23. D. J. Stilwell, E. M. Bollt, and D. G. Roberson, "Sufficient conditions for fast switching synchronization in time-varying network topologies," SIAM J. Applied Dynamical Systems, vol. 6, pp. 140-156, 2006.