Decentralized control of vehicle formations
نویسندگان
چکیده
منابع مشابه
Decentralized control of vehicle formations
This paper investigates a method for decentralized stabilization of vehicle formations using techniques from algebraic graph theory. The vehicles exchange information according to a pre-specified communication digraph, G. A feedback control is designed using relative information between a vehicle and its in-neighbors in G. We prove that a necessary and sufficient condition for an appropriate de...
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A decentralized architecture is proposed for autonomous establishment and maintenance of satellite formations. Such an architecture does not require a central supervisor, as the spacecraft can cooperatively track planned maneuvers and trajectories in the face of disturbances and uncertainties, while processing only local measurement information. If the planned maneuvers and trajectories are the...
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We review the enabling theory for the decentralized and cooperative control of formations of unmanned, autonomous vehicles. The decentralized and cooperative formation control approach combines recent results from dynamical system theory, control theory, and algebraic graph theory. The stability of vehicle formations is discussed, and the applicability of the technology concept to a variety of ...
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Control of vehicle formations has emerged as a topic of significant interest to the controls community. In applications such as microsatellites and underwater vehicles, formations have the potential for greater functionality and versatility than individual vehicles. In this thesis, we investigate two topics relevant to control of vehicle formations: optimal vehicle control and cooperative contr...
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In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich class of problems for decentralized control methods and techniques. Additionally, it can be used to model a wide variety of scenarios where decentralization is...
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ژورنال
عنوان ژورنال: Systems & Control Letters
سال: 2005
ISSN: 0167-6911
DOI: 10.1016/j.sysconle.2005.02.004