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Author El-Hawwary, M.I. ♦ Maggiore, M.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2011
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Vectors ♦ Laplace equations ♦ Eigenvalues and eigenfunctions ♦ Closed loop systems ♦ Asymptotic stability ♦ Distributed control ♦ Clocks
Abstract We investigate the following problem: design a distributed control law making n kinematic unicycles converge to a common circle of prespecified radius, whose centre is stationary but dependent on the initial conditions, and traverse the circle in a desired direction. Moreover, the vehicles are required to converge to a formation on the circle, expressed by desired separations and ordering of the unicycles. We present a solution for the case when the information flow graph is undirected. In part II of this paper we generalize the solution to the case of arbitrary information flow graphs, and to the case of dynamic unicycles.
Description Author affiliation: Department of Electrical and Computer Engineering, University of Toronto, 10 King's College Road, ON, M5S 3G4, Canada (El-Hawwary, M.I.; Maggiore, M.)
ISBN 9781612848006
ISSN 07431546
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2011-12-12
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781612848013
Size (in Bytes) 424.15 kB
Page Count 6
Starting Page 5052
Ending Page 5057

Source: IEEE Xplore Digital Library