Novel decentralised formation control for unmanned vehicles


Autoria(s): Yang, Aolei; Naeem, Wasif; Irwin, George; Li, Kang
Data(s)

07/06/2012

Resumo

This paper proposes a new methodology for solving the unmanned multi-vehicle formation control problem. It employs a unique “extension-decomposition-aggregation” scheme to transform the overall complex formation control problem to a group of sub-problems which work via boundary interactions. The H∞ robust control strategy is applied to design the decentralised formation controllers to reject the interactions and work jointly to maintain the stability of the overall formation. Simulation studies have been performed to verify its performance and effectiveness.

Identificador

http://pure.qub.ac.uk/portal/en/publications/novel-decentralised-formation-control-for-unmanned-vehicles(e1ea742d-3981-4596-aeb3-71cfe9034a95).html

http://dx.doi.org/10.1109/IVS.2012.6232122

Idioma(s)

eng

Direitos

info:eu-repo/semantics/restrictedAccess

Fonte

Yang , A , Naeem , W , Irwin , G & Li , K 2012 , Novel decentralised formation control for unmanned vehicles . in 2012 IEEE Intelligent Vehicles Symposium (IV) . pp. 13-18 , IEEE Intelligent Vehicles Symposium (IV 2012) , Madrid , Spain , 1-1 June . DOI: 10.1109/IVS.2012.6232122

Tipo

contributionToPeriodical