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Hierarchic Stabilization of Flying Convex-Path-Following Formations Part II: Underactuated Agents
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
2019 (English)In: IFAC PAPERSONLINE, ELSEVIER , 2019, Vol. 52, no 12, p. 352-357Conference paper, Published paper (Refereed)
Abstract [en]

In this paper the flying convex-path-following formations problem (FCxPFF) is solved for two cases of underactuated rigid bodies. In the first case the the rigid bodies have a single degree of underactuation with two thrusts and three torques. In the second, they have two degrees of underactuation with a single thrust. The solution builds on the one developed for fully-actuated agents in Part I of the paper. In addition, the way the solution is tailored for underactuation relies on further utilization of hierarchic set stabilization, and reduction. Additional remarks on the benefits of the approach, and simulation results of the proposed solutions are presented. Copyright

Place, publisher, year, edition, pages
ELSEVIER , 2019. Vol. 52, no 12, p. 352-357
Keywords [en]
Formation control, distributed stabilization, underactuated systems, hierarchical control, reduction
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-266325DOI: 10.1016/j.ifacol.2019.11.268ISI: 000498881800059Scopus ID: 2-s2.0-85077388250OAI: oai:DiVA.org:kth-266325DiVA, id: diva2:1382959
Conference
21st International-Federation-of-Automatic-Control (IFAC) Symposium on Automatic Control in Aerospace (ACA), AUG 27-30, 2019, Cranfield, ENGLAND
Note

QC 20200107

Available from: 2020-01-07 Created: 2020-01-07 Last updated: 2020-03-09Bibliographically approved

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El-Hawwary, Mohamed, I

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