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dc.contributor.authorDo, Khac Duc
dc.date.accessioned2017-01-30T12:53:48Z
dc.date.available2017-01-30T12:53:48Z
dc.date.created2013-09-23T20:01:16Z
dc.date.issued2013
dc.identifier.citationDo, K.D. 2013. Coordination Control of Underactuated ODINs in Three Dimensional Space. Robotics and Autonomous Systems. 61 (8): pp. 853-867.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/26510
dc.identifier.doi10.1016/j.robot.2013.04.002
dc.description.abstract

A constructive design of distributed coordination controllers for a group of N underactuated omni-directional intelligent navigators (ODINs) in three-dimensional space under the environmental disturbances induced by ocean currents is presented. To make the control design effective and avoid singularities in the ODIN's dynamics, a combination of Euler angles and unit-quaternion is used for the attitude representation of the vehicle. The coordination control design is based on an exponential disturbance observer, a non-zero convergent result for a first-order differential inequality, and new pairwise collision avoidance functions. The pairwise collision functions are functions of both relative positions and relative velocities between the ODINs instead of only their relative positions as in the literature. To overcome the inherent underactuation of the ODIN, the roll and pitch angles of the ODIN are considered as immediate controls. Simulations illustrate the results.

dc.publisherElsevier Science BV
dc.subjectPotential functions
dc.subjectCoordination control
dc.subjectCollision avoidance
dc.subjectUnderactuated
dc.subjectODIN
dc.titleCoordination Control of Underactuated ODINs in Three Dimensional Space
dc.typeJournal Article
dcterms.source.volume61
dcterms.source.number8
dcterms.source.startPage853
dcterms.source.endPage867
dcterms.source.issn0921-8890
dcterms.source.titleRobotics and Autonomous Systems
curtin.department
curtin.accessStatusFulltext not available


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