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dc.contributor.authorDo, Khac Duc
dc.identifier.citationDo, Khac Duc. 2013. Bounded Coordination Control of Second-order Dynamic Agents. Advances in Robotics and Automation. 2 (2): 1000105.

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 control design is based on the new bounded control design technique for second-order systems, and new pairwise collision avoidance functions. The pair wise collision functions are functions of both the relative position and velocity of the agents instead of only the relative position as in the literature. Desired features of the proposed control design include:1) Boundedness of the control inputs by a predefined bound despite collision avoidance between the agentsconsidered,2) No collision between any agents,3) Asymptotical stability of desired equilibrium set, and4) Instability of all other undesired critical sets of the closed loop system. The proposed control design is then applied to design a coordination control system for a group of vertical take-off and landing (VTOL) aircraft.

dc.publisherOMICS Publishing Group
dc.subjectPotential functions
dc.subjectCollision avoidance
dc.subjectVTOL aircraft
dc.subjectSecond-order agents
dc.subjectBounded coordination control
dc.titleBounded Coordination Control of Second-order Dynamic Agents
dc.typeJournal Article
dcterms.source.titleAdvances in Robotics and Automation

This article is published under the Open Access publishing model and distributed under the terms of the Creative Commons Attribution License Please refer to the licence to obtain terms for any further reuse or distribution of this work.

curtin.accessStatusOpen access

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