Publication

A virtual vehicle approach to distributed control for formation keeping of underactuated vehicles

2015
Conference Papers

Abstract

This paper addresses the control problem of formation keeping of a fleet of underactuated vehicles under communication constraints, where each agent is allowed to communicate with only a subset of the agents of the fleet. We adopt a virtual vehicle approach where every underactuated agent tracks a virtual vehicle, described by a single integrator model, driven by a consensus-based distributed controller. This approach results in a distributed dynamic controller for formation keeping of underactuated vehicles with exponential convergence guarantee of the formation error to zero. Simulation results are presented for both wheeled-like vehicles (2-D case) and UAV-like vehicles (3-D case).

Official source

https://infoscience.epfl.ch/entities/publication/d2814703-6ffa-4aab-87d8-20ceb9b6be3a

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2015
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/d2814703-6ffa-4aab-87d8-20ceb9b6be3a

About this result

Related concepts (32)

Virtual world

A virtual world (also called a virtual space) is a computer-simulated environment which may be populated by many users who can create a personal avatar, and simultaneously and independently explore the virtual world, participate in its activities and communicate with others. These avatars can be textual, graphical representations, or live video avatars with auditory and touch sensations. Virtual worlds are closely related to mirror worlds.

Control theory

Control theory is a field of control engineering and applied mathematics that deals with the control of dynamical systems in engineered processes and machines. The objective is to develop a model or algorithm governing the application of system inputs to drive the system to a desired state, while minimizing any delay, overshoot, or steady-state error and ensuring a level of control stability; often with the aim to achieve a degree of optimality. To do this, a controller with the requisite corrective behavior is required.

Simulation

A simulation is the imitation of the operation of a real-world process or system over time. Simulations require the use of models; the model represents the key characteristics or behaviors of the selected system or process, whereas the simulation represents the evolution of the model over time. Often, computers are used to execute the simulation. Simulation is used in many contexts, such as simulation of technology for performance tuning or optimizing, safety engineering, testing, training, education, and video games.

Related publications (32)

A virtual vehicle approach to distributed control for formation keeping of underactuated vehicles

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