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3D Coordinated Path Following with Disturbance Rejection for Formations of Under-actuated Agents

Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad
Conference object, Journal article, Peer reviewed
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CDC2015_DB_KYP_FS.pdf (573.7Kb)
Permanent lenke
http://hdl.handle.net/11250/2391851
Utgivelsesdato
2015
Metadata
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  • Institutt for teknisk kybernetikk [2833]
  • Publikasjoner fra CRIStin - NTNU [26591]
Originalversjon
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2015   10.1109/CDC.2015.7402009
Sammendrag
In this paper coordinated path following for formations of under-actuated agents in three dimensional space is considered. The agents are controlled to follow a straight-line path whilst being affected by an unknown environmental disturbance. The problem is solved using a twofold approach. In particular, the agents are controlled to the desired path using a guidance law that rejects an unknown, but constant, disturbance. Simultaneously each agent utilises a decentralised nonlinear coordination law to achieve the desired formation. The closed-loop system of path-following and coordination dynamics is analysed using theory for feedback-interconnected systems. In particular, a technique from [1] is used that allows us to analyse a feedback-interconnected systems as a cascaded system. The origin of the closed-loop error dynamics is shown to be globally asymptotically stable. A case study with simulation results is presented to validate the control strategy.
Utgiver
IEEE
Serie
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2015;CDC 2015

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