A virtual vehicle approach to distributed control for formation keeping of underactuated vehicles

This paper addresses the control problem of formation keeping of a fleet of underactuated vehicles under communication constraints, where each agent is allowed to communicate with only a subset of the agents of the fleet. We adopt a virtual vehicle approach where every underactuated agent tracks a virtual vehicle, described by a single integrator model, driven by a consensus-based distributed controller. This approach results in a distributed dynamic controller for formation keeping of underactuated vehicles with exponential convergence guarantee of the formation error to zero. Simulation results are presented for both wheeled-like vehicles (2-D case) and UAV-like vehicles (3-D case).


Presented at:
1st Indian Control Conference (ICC 2015), IIT Madras, Chennai, India, January 5-7, 2015
Year:
2015
Keywords:
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 Record created 2014-12-01, last modified 2018-03-17

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