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Nonlinear and cooperative control of multiple hovercraft with input constraints

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

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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:
URLURL TypeDescription
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7085246&isnumber=7084797PublisherArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
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:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)F33615-98-C-3613
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

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