Pattern preserving path following of unicycle teams with communication delays

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we study pattern preserving path following control of unicycle teams with communication delays. The pattern of the vehicle team is said to be preserved if the distance between it and the desired one remains in some given range. A virtual vehicle formation is introduced such that each virtual vehicle becomes the pursuit target for the corresponding real vehicle. First, an input-driven consensus protocol is used to force the virtual vehicle formation close to the desired vehicle formation. Then a controller is designed to achieve model reference tracking for each vehicle with constrained motion. It is shown that, by our strategy, the pattern can be maintained if the formation speed is less than some computable value, and the desired formation pattern can be eventually achieved if this speed tends to zero.

Original languageEnglish (US)
Title of host publicationProceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Pages3051-3056
Number of pages6
DOIs
StatePublished - 2009
Event48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China
Duration: Dec 15 2009Dec 18 2009

Other

Other48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
CountryChina
CityShanghai
Period12/15/0912/18/09

Fingerprint

Path Following
Communication Delay
Communication
Pursuit
Reference Model
Pattern Formation
Tend
Controller
Target
Motion
Zero
Range of data
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Li, Q., & Jiang, Z-P. (2009). Pattern preserving path following of unicycle teams with communication delays. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 3051-3056). [5399900] https://doi.org/10.1109/CDC.2009.5399900

Pattern preserving path following of unicycle teams with communication delays. / Li, Qin; Jiang, Zhong-Ping.

Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. 2009. p. 3051-3056 5399900.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Li, Q & Jiang, Z-P 2009, Pattern preserving path following of unicycle teams with communication delays. in Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5399900, pp. 3051-3056, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 12/15/09. https://doi.org/10.1109/CDC.2009.5399900
Li Q, Jiang Z-P. Pattern preserving path following of unicycle teams with communication delays. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. 2009. p. 3051-3056. 5399900 https://doi.org/10.1109/CDC.2009.5399900
Li, Qin ; Jiang, Zhong-Ping. / Pattern preserving path following of unicycle teams with communication delays. Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. 2009. pp. 3051-3056
@inproceedings{dac3a2ccd7bb426a8c89f12a7f907521,
title = "Pattern preserving path following of unicycle teams with communication delays",
abstract = "In this paper, we study pattern preserving path following control of unicycle teams with communication delays. The pattern of the vehicle team is said to be preserved if the distance between it and the desired one remains in some given range. A virtual vehicle formation is introduced such that each virtual vehicle becomes the pursuit target for the corresponding real vehicle. First, an input-driven consensus protocol is used to force the virtual vehicle formation close to the desired vehicle formation. Then a controller is designed to achieve model reference tracking for each vehicle with constrained motion. It is shown that, by our strategy, the pattern can be maintained if the formation speed is less than some computable value, and the desired formation pattern can be eventually achieved if this speed tends to zero.",
author = "Qin Li and Zhong-Ping Jiang",
year = "2009",
doi = "10.1109/CDC.2009.5399900",
language = "English (US)",
isbn = "9781424438716",
pages = "3051--3056",
booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009",

}

TY - GEN

T1 - Pattern preserving path following of unicycle teams with communication delays

AU - Li, Qin

AU - Jiang, Zhong-Ping

PY - 2009

Y1 - 2009

N2 - In this paper, we study pattern preserving path following control of unicycle teams with communication delays. The pattern of the vehicle team is said to be preserved if the distance between it and the desired one remains in some given range. A virtual vehicle formation is introduced such that each virtual vehicle becomes the pursuit target for the corresponding real vehicle. First, an input-driven consensus protocol is used to force the virtual vehicle formation close to the desired vehicle formation. Then a controller is designed to achieve model reference tracking for each vehicle with constrained motion. It is shown that, by our strategy, the pattern can be maintained if the formation speed is less than some computable value, and the desired formation pattern can be eventually achieved if this speed tends to zero.

AB - In this paper, we study pattern preserving path following control of unicycle teams with communication delays. The pattern of the vehicle team is said to be preserved if the distance between it and the desired one remains in some given range. A virtual vehicle formation is introduced such that each virtual vehicle becomes the pursuit target for the corresponding real vehicle. First, an input-driven consensus protocol is used to force the virtual vehicle formation close to the desired vehicle formation. Then a controller is designed to achieve model reference tracking for each vehicle with constrained motion. It is shown that, by our strategy, the pattern can be maintained if the formation speed is less than some computable value, and the desired formation pattern can be eventually achieved if this speed tends to zero.

UR - http://www.scopus.com/inward/record.url?scp=77950840219&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77950840219&partnerID=8YFLogxK

U2 - 10.1109/CDC.2009.5399900

DO - 10.1109/CDC.2009.5399900

M3 - Conference contribution

SN - 9781424438716

SP - 3051

EP - 3056

BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009

ER -