Journal article
Three-dimensional coordinated path-following control for second-order multi-agent networks
Journal of the Franklin Institute, Vol.352(9), pp.3858-3872
09/2015
DOI: 10.1016/j.jfranklin.2015.01.020
Abstract
In this paper we address the problem of coordinating a group of multi-agent under directed information flow along a three-dimensional reference path with spatial but without temporal constraints. Control laws are derived that enable each vehicle involved in the cooperative mission to follow a three-dimensional (3D) spatial path while coordinating. The spatial reference path is described by an algebraic implicit expression and the path-following kinematic-error dynamics are then formulated for each agent using suitably defined spatial and speed tracking error variable. Distinct from the stabilizing feedback control design of the path-following problem for a single agent, the proposed feedback control algorithm, augmented with local disagreement terms, achieves consensus path-following. Further, the desired speed profiles assigned to the agents are employed as extra design degrees of freedom to achieve coordination, based on a chasing-and-waiting strategy. Within the proposed design framework, the multi-agent systems follow the spatial path with negotiated speed profiles and ultimately coordinate with each other.
Details
- Title: Subtitle
- Three-dimensional coordinated path-following control for second-order multi-agent networks
- Creators
- Zongyu Zuo - The Seventh Research Division, Beihang University (aka Beijing University of Aeronautics and Astronautics, BUAA), Beijing 100191, ChinaVenanzio Cichella - Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USAMing Xu - The Seventh Research Division, Beihang University (aka Beijing University of Aeronautics and Astronautics, BUAA), Beijing 100191, ChinaNaira Hovakimyan - Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
- Resource Type
- Journal article
- Publication Details
- Journal of the Franklin Institute, Vol.352(9), pp.3858-3872
- Publisher
- Elsevier Ltd
- DOI
- 10.1016/j.jfranklin.2015.01.020
- ISSN
- 0016-0032
- eISSN
- 1879-2693
- Grant note
- 61203022 / National Natural Science Foundation of China (http://dx.doi.org/10.13039/501100001809) FA9550-11-1-0145 / AFOSR (http://dx.doi.org/10.13039/100000181) 2012CZ51029 / Aeronautic Science Foundation of China NNX08BA64A; NNX08BA65A / NASA (http://dx.doi.org/10.13039/100000104)
- Language
- English
- Date published
- 09/2015
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984064114602771
Metrics
10 Record Views