TY - GEN
T1 - Decentralized overlapping tracking control of a formation of autonomous unmanned vehicles
AU - Stanković, Srdjan S.
AU - Stipanović, Dušan M.
AU - Stanković, Miloš S.
PY - 2009
Y1 - 2009
N2 - In this paper a new methodology for decentralized overlapping tracking control of formations of autonomous unmanned vehicles based on the expansion/contracion paradigm is proposed. The methodology is based on a specific linear formation model. Decentralized controllers for the extracted subsystems are contracted to the original space after convenient modifications. It is proved that the overall closed loop system is stable if the formation graph has a directed spanning tree. An extension to the case of dynamic output feedback control law based on decentralized observers is also proposed. Experimental results give an illustration of the performance of the proposed controller when the local design is based on the LQ methodology.
AB - In this paper a new methodology for decentralized overlapping tracking control of formations of autonomous unmanned vehicles based on the expansion/contracion paradigm is proposed. The methodology is based on a specific linear formation model. Decentralized controllers for the extracted subsystems are contracted to the original space after convenient modifications. It is proved that the overall closed loop system is stable if the formation graph has a directed spanning tree. An extension to the case of dynamic output feedback control law based on decentralized observers is also proposed. Experimental results give an illustration of the performance of the proposed controller when the local design is based on the LQ methodology.
UR - http://www.scopus.com/inward/record.url?scp=70449647098&partnerID=8YFLogxK
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U2 - 10.1109/ACC.2009.5160522
DO - 10.1109/ACC.2009.5160522
M3 - Conference contribution
AN - SCOPUS:70449647098
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 3878
EP - 3883
BT - 2009 American Control Conference, ACC 2009
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -