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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Beibei Ren Hailong Pei Zhendong Sun Shuzhi Sam Ge Tong Heng Lee |
| Copyright Year | 2009 |
| Description | Author affiliation: College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China (Hailong Pei; Zhendong Sun) || Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576, Singapore (Beibei Ren; Shuzhi Sam Ge; Tong Heng Lee) |
| Abstract | In this paper, decentralized controllers are developed to drive a swarm of mobile agents with high-order (n > 2) nonlinear dynamics in strict feedback form into a moving target region while avoiding collisions among themselves. It is important to consider coordination of multiple high-order agent dynamics which generalize the existing simple single-integrator/double-integrator ones because, in practice, we may need to incorporate actuator dynamics into the vehicle dynamics in order to achieve better performance, thus increasing the order of the system dynamics. The control design is based on a fusion of two kinds of new potential functions (target potential functions and collision avoidance potential functions), backstepping technique and Lyapunov synthesis. The presence of parametric uncertainties is handled by adaptive control techniques. The framework does not depend on a fixed ordering of agents, and is robust to individual agent failures. Therefore, flexibility and scalability are improved. Simulation results illustrate the performance of the proposed approach. |
| Starting Page | 90 |
| Ending Page | 95 |
| File Size | 654220 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424447947 |
| DOI | 10.1109/ICAL.2009.5262969 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-08-05 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Actuators Backstepping Uncertainty Control design Mobile agents Feedback Control system synthesis Nonlinear dynamical systems Vehicle dynamics Collision avoidance |
| Content Type | Text |
| Resource Type | Article |
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