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CDC
2010
IEEE

Backstepping control design for motion coordination of self-propelled vehicles

10 years 6 months ago
Backstepping control design for motion coordination of self-propelled vehicles
Motion coordination of autonomous vehicles has applications from target surveillance to climate monitoring. Previous research has yielded stabilizing control laws for a selfpropelled-vehicle model with first-order rotational dynamics; however, this model may not adequately describe the rotational dynamics of vehicles in the atmosphere or ocean. This paper describes the design of backstepping algorithms for the decentralized control of self-propelled vehicles with secondorder rotational dynamics. We design backstepping controls for planar parallel and circular formations in the absence of a flowfield and in the presence of a steady, uniform flowfield. These controls extend prior results to a more realistic vehicle model.
Rochelle Mellish, Derek A. Paley
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2010
Where CDC
Authors Rochelle Mellish, Derek A. Paley
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