Cooperative control design for circular flocking of underactuated hovercrafts

Author

Han, Thanh-Trung ; Ge, Shuzhi Sam

Author_Institution

Robot. Inst., Univ. of Electron. Sci. & Technol. of China, Chengdu, China

fYear

2011

fDate

12-15 Dec. 2011

Firstpage

4891

Lastpage

4896

Abstract

This paper introduces a Lyapunov-based control design for circular flocking with collision avoidance of underactuated hovercrafts. The desired flocking is achieved by means of consensus on a coordinate-dependent transformation of vehicle linear velocity in surge and finiteness of a coordination function. The design makes use of linear velocity in surge and angular velocity in yaw as virtual controls in a backstepping scheme so that the desired flocking algorithm is obtained in a systematic way, and both convergence and collision avoidance are proved with mathematical rigor.

Keywords

Lyapunov methods; collision avoidance; control system synthesis; hovercraft; Lyapunov-based control design; backstepping scheme; circular flocking; collision avoidance; convergence; cooperative control design; coordinate-dependent transformation; coordination function; underactuated hovercrafts; vehicle linear velocity; virtual controls; Closed loop systems; Collision avoidance; Surges; Systematics; Trajectory; Vectors; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Conference_Location

Orlando, FL

ISSN

0743-1546

Print_ISBN

978-1-61284-800-6

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2011.6161452

Filename

6161452