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Distributed control of periodic formations for multiple under-actuated autonomous vehicles
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2017 (English)In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 11, no 1, 66-72 p.Article in journal (Refereed) Published
Abstract [en]

One of the unique global behaviours of a group of under-actuated autonomous vehicles is known as cyclic pursue, which requires a group of vehicles to uniformly distribute on circles and at the same time, to orbit around a centre point, while circumnavigation further requires those vehicles to circumnavigate a predefined target of interest. Such behaviours can also be called periodic formations. This paper further studies the periodic formations for multi-agent systems composed of a group of under-actuated autonomous vehicles and a target of interest by proposing a distributed strategy to maintain any required distance between two vehicles and desired angle difference between vehicle's heading and the line of sight that takes directly towards its pursuing vehicle. The authors' distributed control law, dependent only on the information of its pursuing vehicle and itself, can not only enable a network of autonomous vehicles to circulate around a target of interest, but also achieve any physically feasible periodic formations, which include forming regular polygons as a special case.

Place, publisher, year, edition, pages
IET , 2017. Vol. 11, no 1, 66-72 p.
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-203171DOI: 10.1049/iet-cta.2016.0480ISI: 000393518900008Scopus ID: 2-s2.0-85007308715OAI: oai:DiVA.org:kth-203171DiVA: diva2:1081628
Note

QC 20170314

Available from: 2017-03-14 Created: 2017-03-14 Last updated: 2017-11-29Bibliographically approved

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  • Other locale
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