Dunbar, William B. and Olfati-Saber, Reza and Murray, Richard M. (2003) Nonlinear and cooperative control of multiple hovercraft with input constraints. In: 2003 European Control Conference. IEEE , Piscataway, NJ, pp. 1917-1922. ISBN 978-3-9524173-7-9. https://resolver.caltech.edu/CaltechAUTHORS:20150513-085011394
![]() |
PDF
- Published Version
See Usage Policy. 1MB |
Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20150513-085011394
Abstract
In this paper, we introduce an approach for distributed nonlinear control of multiple hovercraft-type underactuated vehicles with bounded and unidirectional inputs. First, a bounded nonlinear controller is given for stabilization and tracking of a single vehicle, using a cascade backstepping method. Then, this controller is combined with a distributed gradient-based control for multi-vehicle formation stabilization using formation potential functions previously constructed. The vehicles are used in the Caltech Multi-Vehicle Wireless Testbed (MVWT). We provide simulation and experimental results for stabilization and tracking of a single vehicle, and a simulation of stabilization of a six-vehicle formation, demonstrating that in all cases the control bounds and the control objective are satisfied.
Item Type: | Book Section | ||||||
---|---|---|---|---|---|---|---|
Related URLs: |
| ||||||
ORCID: |
| ||||||
Additional Information: | © 2003 IEEE. Partial support for this work was provided by DARPA under grant F33615-98-C-3613. The authors thank Steve Waydo for his help with the experimental results. | ||||||
Funders: |
| ||||||
Subject Keywords: | cooperative control, decentralized control, autonomous multi-vehicles, underactuated systems, unidirectional/ bounded control | ||||||
Record Number: | CaltechAUTHORS:20150513-085011394 | ||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20150513-085011394 | ||||||
Official Citation: | Dunbar, William B.; Saber, Reza Olfati; Murray, Richard M., "Nonlinear and cooperative control of multiple hovercraft with input constraints," European Control Conference (ECC), 2003 , vol., no., pp.1917,1922, 1-4 Sept. 2003 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7085246&isnumber=7084797 | ||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
ID Code: | 57477 | ||||||
Collection: | CaltechAUTHORS | ||||||
Deposited By: | Tony Diaz | ||||||
Deposited On: | 13 May 2015 17:41 | ||||||
Last Modified: | 03 Oct 2019 08:25 |
Repository Staff Only: item control page