Bounded controllers for formation stabilization of mobile agents with limited sensing ranges

被引：78

作者：

Do, K. D. ^{[1
]}

机构：

[1] Univ Western Australia, Sch Mech Engn, Crawley, WA 6009, Australia

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2007年 / 52卷 / 03期

关键词：

bounded control; bump function; formation stabilization and tracking; potential function;

D O I：

10.1109/TAC.2007.892382

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A constructive method is presented to design bounded cooperative controllers that force a group of N mobile agents with limited sensing ranges to stabilize at a desired location, and guarantee no collisions between the agents. The control development is based on new general potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision occurs. A p-times differential bump function is introduced and embedded into the potential functions to deal with the agent limited sensing ranges. An alternative to Barbalat's lemma is developed to analyze stability of the closed loop system. Extension to formation tracking is also addressed.

引用

页码：569 / 576

页数：8

共 19 条

[1] Behavior-based formation control for multirobot teams [J].

Balch, T ;

Arkin, RC .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (06) :926-939

[2] Coverage control for mobile sensing networks [J].

Cortés, J ;

Martínez, S ;

Karatas, T ;

Bullo, F .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (02) :243-255

[3] A vision-based formation control framework [J].

Das, AK ;

Fierro, R ;

Kumar, V ;

Ostrowski, JP ;

Spletzer, J ;

Taylor, CJ .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2002, 18 (05) :813-825

[4] Universal controllers for stabilization and tracking of underactuated ships [J].

Do, KD ;

Jiang, ZP ;

Pan, J .

SYSTEMS & CONTROL LETTERS, 2002, 47 (04) :299-317

[5] A class of attractions/repulsion functions for stable swarm aggregations [J].

Gazi, V ;

Passino, KM .

INTERNATIONAL JOURNAL OF CONTROL, 2004, 77 (18) :1567-1579

[6] New potential functions for mobile robot path planning [J].

Ge, SS ;

Cui, YJ .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2000, 16 (05) :615-620

[7]

Khalil HK., 2002, NONLINEAR SYSTEMS, V3rd edition

[8] ROBOT NAVIGATION FUNCTIONS ON MANIFOLDS WITH BOUNDARY [J].

KODITSCHEK, DE ;

RIMON, E .

ADVANCES IN APPLIED MATHEMATICS, 1990, 11 (04) :412-442

[9] A decentralized approach to formation maneuvers [J].

Lawton, JRT ;

Beard, RW ;

Young, BJ .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2003, 19 (06) :933-941

[10]

Leonard NE, 2001, IEEE DECIS CONTR P, P2968, DOI 10.1109/CDC.2001.980728

← 1 2 →