Journal
SYSTEMS & CONTROL LETTERS
Volume 59, Issue 9, Pages 522-529Publisher
ELSEVIER SCIENCE BV
DOI: 10.1016/j.sysconle.2010.06.002
Keywords
Cooperative control; Distributed algorithms; Formation control; Coordination; Decentralized estimator
Funding
- National Science Foundation [ECCS-1002393]
- Div Of Electrical, Commun & Cyber Sys
- Directorate For Engineering [1213295] Funding Source: National Science Foundation
- Div Of Electrical, Commun & Cyber Sys
- Directorate For Engineering [1002393] Funding Source: National Science Foundation
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In this paper, a simple but efficient framework is proposed to achieve finite-time decentralized formation tracking of multiple autonomous vehicles with the introduction of decentralized sliding mode estimators. First, we propose and study both first-order and second-order decentralized sliding mode estimators. In particular, we show that the proposed first-order decentralized sliding mode estimator can guarantee accurate position estimation in finite time and the proposed second-order decentralized sliding mode estimator can guarantee accurate position and velocity estimation in finite time. Then the decentralized sliding mode estimators are employed to achieve decentralized formation tracking of multiple autonomous vehicles. In particular, it is shown that formation tracking can be achieved for systems with both single-integrator kinematics and double-integrator dynamics in finite time. By using the decentralized sliding mode estimators, many formation tracking/flying scenarios can be easily decoupled into two subtasks, that is, decentralized sliding mode estimation and vehicle desired state tracking, without imposing a stringent condition on the information flow. Finally, several simulation results are presented as a proof of concept. (C) 2010 Elsevier B.V. All rights reserved.
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