Three-Dimensional Motion Coordination in a Time-Invariant Flowfield

被引：8

作者：

Hernandez, Sonia ^{[1
]}

Paley, Derek A. ^{[1
]}

机构：

[1] Univ Texas Austin, Dept Aerosp Engn, Austin, TX 78712 USA

来源：

PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009) | 2009年

关键词：

COLLECTIVE MOTION; STABILIZATION; AIRCRAFT;

D O I：

10.1109/CDC.2009.5400815

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Three-dimensional motion coordination in a flowfield has applications in environmental monitoring with autonomous vehicles. Motion-coordination algorithms designed using a flow-free motion model often fail to converge in even moderate flow speeds. We apply Lyapunov-based methods to design decentralized feedback laws for use in a threedimensional, time-invariant flowfield that does not exceed the speed of each platform relative to the flow. The control laws stabilize moving formations in a dynamic model of identical particles that travel at constant speed relative to the flow. Specifically, we provide theoretically justified algorithms to stabilize parallel, helical, and circular formations in a three dimensional flowfield. In ongoing work, we seek to extend the three-dimensional motion-coordination framework to address strong and time-varying flowfields that represent more realistic environmental dynamics in the atmosphere and ocean.

引用

页码：7043 / 7048

页数：6

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