dc.contributor.author | Belleter, Dennis Johannes Wouter | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.date.accessioned | 2016-01-09T15:15:18Z | |
dc.date.accessioned | 2016-06-08T11:12:47Z | |
dc.date.available | 2016-01-09T15:15:18Z | |
dc.date.available | 2016-06-08T11:12:47Z | |
dc.date.issued | 2015 | |
dc.identifier.citation | Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2015 | nb_NO |
dc.identifier.issn | 0191-2216 | |
dc.identifier.uri | http://hdl.handle.net/11250/2391851 | |
dc.description.abstract | 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. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | IEEE | nb_NO |
dc.relation.ispartofseries | Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2015;CDC 2015 | |
dc.title | 3D Coordinated Path Following with Disturbance Rejection for Formations of Under-actuated Agents | nb_NO |
dc.type | Chapter | nb_NO |
dc.date.updated | 2016-01-09T15:15:18Z | |
dc.description.version | acceptedVersion | |
dc.source.pagenumber | 1040 - 1047 | nb_NO |
dc.identifier.doi | 10.1109/CDC.2015.7402009 | |
dc.identifier.cristin | 1309077 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_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 |