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Information Flow and Cooperative Control of Vehicle Formations |
Abstract |
Vehicles in formation often lack global in … Vehicles in formation often lack global information regarding the state of
all the vehicles, a deficiency which can lead to instability and poor performance. In
this paper, we demonstrate how exchange of minimal amounts of information between
vehicles can be designed to realize a dynamical system which supplies each vehicle with
a shared reference trajectory. When the information flow law is placed in the control
loop, a separation principle is proven which guarantees stability of the formation and
convergence of the information flow law regardless of the information flow topology. gardless of the information flow topology. +
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Authors | J. Alexander Fax and Richard M. Murray + |
ID | 2001k + |
Source | 2002 IFAC World Congress + |
Tag | fm02b-ifac + |
Title | Information Flow and Cooperative Control of Vehicle Formations + |
Type | Conference Paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:19:12 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/fm02b-ifac.pdf + |
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Information Flow and Cooperative Control of Vehicle Formations + | Title |
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