Vis enkel innførsel

dc.contributor.authorBelleter, Dennis Johannes Wouter
dc.contributor.authorPettersen, Kristin Ytterstad
dc.date.accessioned2016-01-09T15:15:18Z
dc.date.accessioned2016-06-08T11:12:47Z
dc.date.available2016-01-09T15:15:18Z
dc.date.available2016-06-08T11:12:47Z
dc.date.issued2015
dc.identifier.citationProceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2015nb_NO
dc.identifier.issn0191-2216
dc.identifier.urihttp://hdl.handle.net/11250/2391851
dc.description.abstractIn 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.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.relation.ispartofseriesProceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2015;CDC 2015
dc.title3D Coordinated Path Following with Disturbance Rejection for Formations of Under-actuated Agentsnb_NO
dc.typeConference objectnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2016-01-09T15:15:18Z
dc.source.pagenumber1040 - 1047nb_NO
dc.identifier.doi10.1109/CDC.2015.7402009
dc.identifier.cristin1309077
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode(c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.nb_NO


Tilhørende fil(er)

Thumbnail

Denne innførselen finnes i følgende samling(er)

Vis enkel innførsel