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Backstepping control design for motion coordination of self‐propelled vehicles in a flowfield
Author(s) -
Mellish Rochelle,
Napora Seth,
Paley Derek 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.1702
Subject(s) - backstepping , control theory (sociology) , rotation around a fixed axis , control engineering , control (management) , computer science , dynamics (music) , circular motion , engineering , adaptive control , physics , artificial intelligence , mechanical engineering , acoustics
Motion coordination of autonomous vehicles has applications from target surveillance to climate monitoring. Previous research has yielded stabilizing control laws for a self‐propelled vehicle model with first‐order rotational dynamics, but this model does not adequately describe the rotational dynamics of vehicles in the atmosphere or ocean. This paper describes the design of backstepping algorithms for the decentralized control of self‐propelled vehicles with second‐order rotational dynamics. We design backstepping controls for parallel and circular formations in the absence of a flowfield and in the presence of a steady, uniform flowfield. These controls extend prior results to a more realistic vehicle model. Aside from the addition of new sensing and communication requirements, the second‐order control laws are demonstrated to have comparable performance to the first‐order controllers. Copyright © 2011 John Wiley & Sons, Ltd.