TY - GEN
T1 - Pattern preserving path following of unicycle teams with communication delays
AU - Li, Qin
AU - Jiang, Zhong Ping
N1 - Funding Information:
Dr. Jiang has served as a Subject Editor for the International Journal of Robust and Nonlinear Control , and as an Associate Editor for Systems & Control Letters , IEEE Transactions on Automatic Control and European Journal of Control . Dr. Jiang is a recipient of the prestigious Queen Elizabeth II Fellowship Award from the Australian Research Council, the CAREER Award from the US National Science Foundation, and the Young Investigator Award from the NSF of China.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
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U2 - 10.1109/CDC.2009.5399900
DO - 10.1109/CDC.2009.5399900
M3 - Conference contribution
AN - SCOPUS:77950840219
SN - 9781424438716
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3051
EP - 3056
BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Y2 - 15 December 2009 through 18 December 2009
ER -