Bounded Coordination Control of Second-order Dynamic Agents
This paper presents a constructive design of distributed and bounded coordination controllers that force mobile agents with second-order dynamics to track desired trajectories and to avoid collision between them. The control design is based on the new bounded control design technique for second-orde...
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| Format: | Journal Article |
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OMICS Publishing Group
2013
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| Online Access: | http://hdl.handle.net/20.500.11937/20383 |
| _version_ | 1848750290120998912 |
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| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper presents a constructive design of distributed and bounded coordination controllers that force mobile agents with second-order dynamics to track desired trajectories and to avoid collision between them. The control design is based on the new bounded control design technique for second-order systems, and new pairwise collision avoidance functions. The pair wise collision functions are functions of both the relative position and velocity of the agents instead of only the relative position as in the literature. Desired features of the proposed control design include:1) Boundedness of the control inputs by a predefined bound despite collision avoidance between the agentsconsidered,2) No collision between any agents,3) Asymptotical stability of desired equilibrium set, and4) Instability of all other undesired critical sets of the closed loop system. The proposed control design is then applied to design a coordination control system for a group of vertical take-off and landing (VTOL) aircraft. |
| first_indexed | 2025-11-14T07:34:29Z |
| format | Journal Article |
| id | curtin-20.500.11937-20383 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T07:34:29Z |
| publishDate | 2013 |
| publisher | OMICS Publishing Group |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-203832017-09-13T13:51:44Z Bounded Coordination Control of Second-order Dynamic Agents Do, Khac Duc Potential functions Collision avoidance VTOL aircraft Second-order agents Bounded coordination control This paper presents a constructive design of distributed and bounded coordination controllers that force mobile agents with second-order dynamics to track desired trajectories and to avoid collision between them. The control design is based on the new bounded control design technique for second-order systems, and new pairwise collision avoidance functions. The pair wise collision functions are functions of both the relative position and velocity of the agents instead of only the relative position as in the literature. Desired features of the proposed control design include:1) Boundedness of the control inputs by a predefined bound despite collision avoidance between the agentsconsidered,2) No collision between any agents,3) Asymptotical stability of desired equilibrium set, and4) Instability of all other undesired critical sets of the closed loop system. The proposed control design is then applied to design a coordination control system for a group of vertical take-off and landing (VTOL) aircraft. 2013 Journal Article http://hdl.handle.net/20.500.11937/20383 10.4172/2168-9695.1000105 OMICS Publishing Group fulltext |
| spellingShingle | Potential functions Collision avoidance VTOL aircraft Second-order agents Bounded coordination control Do, Khac Duc Bounded Coordination Control of Second-order Dynamic Agents |
| title | Bounded Coordination Control of Second-order Dynamic Agents |
| title_full | Bounded Coordination Control of Second-order Dynamic Agents |
| title_fullStr | Bounded Coordination Control of Second-order Dynamic Agents |
| title_full_unstemmed | Bounded Coordination Control of Second-order Dynamic Agents |
| title_short | Bounded Coordination Control of Second-order Dynamic Agents |
| title_sort | bounded coordination control of second-order dynamic agents |
| topic | Potential functions Collision avoidance VTOL aircraft Second-order agents Bounded coordination control |
| url | http://hdl.handle.net/20.500.11937/20383 |