Distributed formation control for target-enclosing operations based on a cyclic pursuit strategy

Shinji Hara, Tae Hyoung Kim, Yutaka Hori

研究成果: Conference contribution

34 被引用数 (Scopus)

抄録

This paper studies a design methodology of a distributed cooperative controller for target-enclosing operations by multiple dynamic agents. To this end, we first present an on-line path generator design method based on a cyclic pursuit scheme. Then, we provide the stability condition which the developed path generator should satisfy. This condition is derived based on a simple stability analysis method for large-scale linear systems with generalized frequency variable. The formation control scheme combined with a cyclic pursuit based distributed on-line path generator satisfying the derived stability condition guarantees the required global convergence property with theoretical rigor. Simulation examples illustrate its distinctive features and the achievement of a desired pursuit pattern.

本文言語English
ホスト出版物のタイトルProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
1 PART 1
DOI
出版ステータスPublished - 2008 12 1
外部発表はい
イベント17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
継続期間: 2008 7 62008 7 11

出版物シリーズ

名前IFAC Proceedings Volumes (IFAC-PapersOnline)
番号1 PART 1
17
ISSN(印刷版)1474-6670

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period08/7/608/7/11

ASJC Scopus subject areas

  • Control and Systems Engineering

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