Pattern preserving path following of unicycle teams with communication delays

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we study pattern preserving path following control of unicycle teams with communication delays. The pattern of the vehicle team is said to be preserved if the distance between it and the desired one remains in some given range. A virtual vehicle formation is introduced such that each virtual vehicle becomes the pursuit target for the corresponding real vehicle. First, an input-driven consensus protocol is used to force the virtual vehicle formation close to the desired vehicle formation. Then a controller is designed to achieve model reference tracking for each vehicle with constrained motion. It is shown that, by our strategy, the pattern can be maintained if the formation speed is less than some computable value, and the desired formation pattern can be eventually achieved if this speed tends to zero.

Original languageEnglish (US)
Title of host publicationProceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Pages3051-3056
Number of pages6
DOIs
StatePublished - 2009
Event48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China
Duration: Dec 15 2009Dec 18 2009

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
CountryChina
CityShanghai
Period12/15/0912/18/09

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Li, Q., & Jiang, Z. P. (2009). Pattern preserving path following of unicycle teams with communication delays. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 3051-3056). [5399900] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2009.5399900