Semi-decentralized optimal control technique for a leader-follower team of unmanned systems with partial availability of the leader command

2007 IEEE International Conference on Control and Automation, ICCA

Volumn , Issue , 2007, Pages 475-480

  Kazerooni, E Semsar ^a   Khorasani, K ^a  

^a Gina Cody School of Engineering and Computer Science   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COST FUNCTIONS; DYNAMIC MODELS; UNMANNED VEHICLES;

LEADER COMMAND; LEADER FOLLOWER TEAM;

OPTIMAL CONTROL SYSTEMS;

EID: 44349135792     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICCA.2007.4376402     Document Type: Conference Paper

References (14)

1. B. Sinopoli, C. Sharp, L. Schenato, S. Schafferthim, and S. Sastry, "Distributed control applications within sensor networks," Proc. IEEE, vol. 91, no. 8, pp. 1235-1246, 2003.
2. J. D. Boskovič, S. M. Li, and R. K. Mehra, "Formation flight control design in the presence of unknown leader commands," in Proc. American Control Conference, May 8-10, 2002, pp. 2854-2859.
3. W. Ren and R. W. Beard, "Formation feedback control for multiple spacecraft via virtual structures," IEE proc. control theory appl., vol. 151, no. 3, pp. 357-368, 2004.
4. R Olfati-Saber and R. M. Murray, "Consensus protocols for networks of dynamic agents," in Proc. American Control Conference, June 4-6, 2003, pp. 951-956.
5. _, "Flocking with obstacle avoidance: cooperation with limited communication in mobile networks," in Proc. Conference on Decision and Control, Dec. 9-12 2003, pp. 2022-2028.
6. V. Gazi, "Stability analysis of swarms," Ph.D. dissertation, The Ohio State University, 2002.
7. E. Semsar and K. Khorasani, "Adaptive formation control of UAVs in the presence of unknown vortex forces and leader commands," in Proc. American Control Conference, June 14-16, 2006, pp. 3563-3568.
8. A. Jadbabaie, J. Lin, and S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Trans. Automat. Contr., vol. 48, no. 6, pp. 988-1000, 2003.
9. B. Andrea-Novel, G. Bastin, and G Campion, "Modeling and control of non holonomic wheeled mobile robots," in Proc. IEEE, Apr. 1991, pp 1130-1135.
10. D. Siljak, Large Scale Dynamic Systems. North Holland Publishing company, 1978.
11. J. C. Engwerda, LQ Dynamic Optimization and Differential Games. John Wiley & Sons, 2005.
12. H. Lutkepohl, Handbook of Matrices. Wiley pubhcation, 1996.
13. A. Locatelli, Optimal Control: An Introduction. Birkhauser, 2001.
14. E. Semsar and K. Khorasani, "Optimal control and game theoretic approach to cooperative control of a team of multi-vehicle unmanned systems," To appear in proceeding of IEEE International Conference on Networking, Sensing and Control, 2007.