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Communication-based performance bounds in nonlinear coordinated control
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DOI：10.1002/rnc.1697.png)
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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 (C) 2011 John Wiley & Sons, Ltd.
Keyword:
limited communication
coordinated control
nonlinear control
Kuramoto oscillator
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IF:
3.2
论文数:
7.0K
被引数:
1.4W
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