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Communication‐based performance bounds in nonlinear coordinated control
Author(s) -
Powel Nathan D.,
Morgansen Kristi A.
Publication year - 2011
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1697
Subject(s) - heading (navigation) , control theory (sociology) , nonlinear system , bandwidth (computing) , computer science , planar , transient (computer programming) , oscillation (cell signaling) , work (physics) , displacement (psychology) , control (management) , engineering , physics , telecommunications , aerospace engineering , artificial intelligence , mechanical engineering , psychology , computer graphics (images) , quantum mechanics , biology , psychotherapist , genetics , operating system
The work in this paper addresses the performance characteristics of a group of autonomous vehicles utilizing coordinated motion control. The vehicle dynamics correspond to planar unicycle systems with constant forward speed and heading control, and the coordination is implemented via phase‐coupled oscillation, such as Kuramoto oscillators. We provide bounds on vehicle transient behavior in terms of maximal displacement from nominal and relation of those bounds to communication bandwidth and energy. Results are demonstrated in simulation. Copyright © 2011 John Wiley & Sons, Ltd.