Motion coordination of thrust-propelled underactuated vehicles with intermittent and delayed communications

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

Research output: Contribution to journalArticle

22 Scopus citations

Abstract

Abstract This paper addresses the coordinated control problem of under-actuated thrust-propelled vehicles with intermittent communication in the presence of varying communication delays. We propose a distributed control algorithm that achieves a prescribed formation for a team of vehicles that interact according to a directed graph containing a spanning tree. Each vehicle in the team is allowed to have access to its neighbors' information only at an irregular sequence of time instants in the presence of possibly unbounded irregular communication delays and packet dropout. We show that our objective is reached under some easily verified conditions provided that the communication blackout intervals between each pair of neighbors are bounded. Simulations are provided to illustrate the effectiveness of the proposed control algorithm.

Original languageEnglish (US)
Article number3894
Pages (from-to)15-22
Number of pages8
JournalSystems and Control Letters
Volume79
DOIs
StatePublished - Jan 1 2015

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)
  • Mechanical Engineering
  • Electrical and Electronic Engineering

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