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Coordinated path-following control of multiple underactuated autonomous vehicles in the presence of communication failures
Reza Ghabcheloo1; A. Pedro Aguiar1; Antonio Pascoal1; Carlos Silvestre1; Isaac Kaminer2; Jo ´ ao Hespanha3
2007-05-07
Conference Name2006 45th IEEE Conference on Decision and Control
Source PublicationProceedings of the 45th IEEE Conference on Decision and Control
Pages4345-4350
Conference DateDEC 13-15, 2006
Conference PlaceSan Diego, CA
CountryUSA
PublisherIEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Abstract

This paper addresses the problem of steering a group of underactuated autonomous vehicles along given spatial paths, while holding a desired inter-vehicle formation pattern. For a general class of vehicles moving in either two or threedimensional space, we show how Lyapunov-based techniques and graph theory can be brought together to yield a decentralized control structure where the dynamics of the cooperating vehicles and the constraints imposed by the topology of the inter-vehicle communications network are explicitly taken into account. Path-following for each vehicle amounts to reducing an appropriately defined geometric error to a small neighborhood of the origin. Vehicle coordination is achieved by adjusting the speed of each vehicle along its path according to information on the positions of a subset of the other vehicles, as determined by the communications topology adopted. The system obtained by putting together the path-following and vehicle coordination strategies adopted takes a cascade form, where the former subsystem is input-to-state stable (ISS) with the error variables of the latter as inputs. Convergence and stability of the overall system are proved formally. The results are also extended to solve the problem of temporary communication failures. Using the concept of "brief instabilities" we show that for a given maximum failure rate, the coordinated path following system is stable and the errors converge to a small neighborhood of the origin. We illustrate our design procedure for underwater vehicles moving in three-dimensional space. Simulations results are presented and discussed.

DOI10.1109/CDC.2006.376989
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering ; Operations Research & Management Science
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Operations Research & Management Science
WOS IDWOS:000252251603161
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Cited Times [WOS]:35   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Corresponding AuthorReza Ghabcheloo
Affiliation1.Dept. Electrical Engineering and Computers and the Institute for Systems and Robotics, Instituto Superior Tecnico, Av. Rovisco Pais, 1, 1049-001 Lisboa, Portugal
2.Department of Mechanical and Astronautical Engineering, Naval Postgraduate School, Monterey, CA 93943, USA
3.Department of Electrical and Computer ˜ Engineering, University of California, Santa Barbara, CA 93106-9560, USA
Recommended Citation
GB/T 7714
Reza Ghabcheloo,A. Pedro Aguiar,Antonio Pascoal,et al. Coordinated path-following control of multiple underactuated autonomous vehicles in the presence of communication failures[C]:IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA,2007:4345-4350.
APA Reza Ghabcheloo,A. Pedro Aguiar,Antonio Pascoal,Carlos Silvestre,Isaac Kaminer,&Jo ´ ao Hespanha.(2007).Coordinated path-following control of multiple underactuated autonomous vehicles in the presence of communication failures.Proceedings of the 45th IEEE Conference on Decision and Control,4345-4350.
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