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Distributed backstepping control of multiple thrust-propelled vehicles on balanced graph (2012)
| Venue: | Eberhard Karls University (Tübingen, Germany) since |
| Citations: | 6 - 2 self |
BibTeX
@INPROCEEDINGS{Lee12distributedbackstepping,
author = {Dongjun Lee},
title = {Distributed backstepping control of multiple thrust-propelled vehicles on balanced graph},
booktitle = {Eberhard Karls University (Tübingen, Germany) since},
year = {2012}
}
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Abstract
Abstract: We propose novel distributed exponentially-converging control frameworks for flocking and centroid trajectory tracking of multiple thrust-propelled vehicles (TPVs), which consist of the under-actuated translation dynamics on E(3) with one-dimensional thrust-force input and the fully-actuated attitude kinematics on SO(3) with angular-rates inputs; and evolves on a strongly-connected, yet, balanced information graph G. To address the issue of under-actuation, we utilize the backstepping technique; and, to decentralize the backstepping control over the balanced graph, we extend/generalize the (passive) decomposition of [15].
Keyphrases
balanced graph multiple thrust-propelled vehicle exponentially-converging control framework centroid trajectory tracking angular-rates input backstepping control fully-actuated attitude kinematics under-actuated translation dynamic backstepping technique information graph one-dimensional thrust-force input
