Motion coordination of thrust-propelled underactuated vehicles in the presence of communication delays

Abdelkader Abdessameud, A. Tayebi, I. G. Polushin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

This paper addresses the coordinated control problem of underactuated thrust-propelled vehicles in the presence of irregular communication delays under a directed communication graph topology. We propose a distributed control algorithm that drives the vehicles to a prescribed formation provided that the communication graph contains a spanning tree. Using the multi-dimensional small-gain approach, we show that the proposed control scheme is robust with respect to varying communication delays, which can be discontinuous with unknown upper bounds. Simulations are provided to illustrate the effectiveness of the proposed control algorithm.

Original languageEnglish (US)
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsXiaohua Xia, Edward Boje
PublisherIFAC Secretariat
Pages3170-3175
Number of pages6
ISBN (Electronic)9783902823625
StatePublished - Jan 1 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: Aug 24 2014Aug 29 2014

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume19
ISSN (Print)1474-6670

Other

Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town
Period8/24/148/29/14

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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    Abdessameud, A., Tayebi, A., & Polushin, I. G. (2014). Motion coordination of thrust-propelled underactuated vehicles in the presence of communication delays. In X. Xia, & E. Boje (Eds.), 19th IFAC World Congress IFAC 2014, Proceedings (pp. 3170-3175). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19). IFAC Secretariat.