Curtin University Homepage
  • Library
  • Help
    • Admin

    espace - Curtin’s institutional repository

    JavaScript is disabled for your browser. Some features of this site may not work without it.
    View Item 
    • espace Home
    • espace
    • Curtin Research Publications
    • View Item
    • espace Home
    • espace
    • Curtin Research Publications
    • View Item

    Bounded Assignment Formation Control of Second-Order Dynamic Agents

    Access Status
    Fulltext not available
    Authors
    Do, Khac Duc
    Date
    2013
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    Do, Khac Duc. 2013. Bounded Assignment Formation Control of Second-Order Dynamic Agents. IEEE-ASME Transactions on Mechatronics. TBA: pp. 1-13.
    Source Title
    IEEE-ASME Transactions on Mechatronics
    DOI
    10.1109/TMECH.2013.2243744
    ISSN
    1083-4435
    URI
    http://hdl.handle.net/20.500.11937/18756
    Collection
    • Curtin Research Publications
    Abstract

    A constructive design of bounded formation controllers is proposed to force N mobile agents with second-order dynamics to track N reference trajectories and to avoid collision between them. Instead of a prior assignation of the reference trajectories to the agents, optimal assignment algorithms are used to assign desired reference trajectories to the agents to obtain optimal criteria such as linear summation and bottleneck functions of the initial traveling distances of the agents. After the reference trajectories are optimally assigned, the bounded formation control design is based on a new bounded control design technique for second-order systems and new pairwise collision avoidance functions. The pairwise collision functions are functions of both relative positions and relative velocities of the agents instead of only relative positions as in the literature. The proposed results are illustrated on a group of underactuated omnidirectional intelligent navigators in a vertical plane.

    Related items

    Showing items related by title, author, creator and subject.

    • Bounded Coordination Control of Second-order Dynamic Agents
      Do, Khac Duc (2013)
      This paper presents a constructive design of distributed and bounded coordination controllers that force mobile agents with second-order dynamics to track desired trajectories and to avoid collision between them. The ...
    • Formation control of multiple elliptical agents with limited sensing ranges
      Do, Khac (2012)
      This paper presents a design of cooperative controllers that force a group of N mobile agents with an elliptical shape and with limited sensing ranges to perform a desired formation. The controllers guarantee no collisions ...
    • Formation Control of Multiple Elliptic Agents with Limited Sensing Ranges
      Do, Khac (2012)
      This paper presents a design of cooperative controllers that force a group of N mobile agents with an elliptic shape and limited sensing ranges to perform a desired formation and that guarantee no collisions between any ...
    Advanced search

    Browse

    Communities & CollectionsIssue DateAuthorTitleSubjectDocument TypeThis CollectionIssue DateAuthorTitleSubjectDocument Type

    My Account

    Admin

    Statistics

    Most Popular ItemsStatistics by CountryMost Popular Authors

    Follow Curtin

    • 
    • 
    • 
    • 
    • 

    CRICOS Provider Code: 00301JABN: 99 143 842 569TEQSA: PRV12158

    Copyright | Disclaimer | Privacy statement | Accessibility

    Curtin would like to pay respect to the Aboriginal and Torres Strait Islander members of our community by acknowledging the traditional owners of the land on which the Perth campus is located, the Whadjuk people of the Nyungar Nation; and on our Kalgoorlie campus, the Wongutha people of the North-Eastern Goldfields.