지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
초록· 키워드
오류제보하기
In this paper, addressed is the control problem of generating a formation for a group of unmanned surface and underwater vehicles. The formation control scheme proposed in this work is based on a fusion of theleader-follower and virtual reference approaches. This scheme gives a formation constraint representation that is independent of the number if vehicles in the formation and the resulting control algorithm is scalable. One of the most important features in controller design is the ability of the controller to globally and exponentially stabilize the formation errors defined by the formation constraints. The proposed controller is based on feedback linearization, and the formation errors are shown to be globally and exponentially stable in the sense of Lyapunov.
목차
ABSTRACT
1. 서론
2. PRELIMINARIES
3. ERROR ANALYSIS
4. CONTROLLER DESIGN
5. SIMULATION RESULT AND ANALYSIS
6. CONCLUSION
ACKNOWLEDGEMENT
REFERENCES
참고문헌 (16)
참고문헌 신청
1. [학술지(정기간행물)] - Balch, T. / 1998 / Behavior-based formation control for multirobot teams / IEEE Transactions on Robotics and Automation 14 (6) : 926 ~ 939
2. [학술대회논문] - Barth, E. J. / 2006 / A cooperative control structure for UAV' sexecuting a cooperative ground moving target engagement (CGMTE) scenario / Proceedings of the American Control Conference : 2183 ~ 2190
3. [인터넷자원] - Bellingham, J.G. / / Real-time Oceanography with Autonomous Ocean Sampling Networks, ONR annual report
4. [학술지(정기간행물)] - Das, A.K. / 2002 / Avision-based Formation Control Framework / IEEE Transactions on Robotics and Automation 18 (5) : 813 ~ 825
5. [학술지(정기간행물)] - Egerstedt, M. / 2001 / Formation Constrained Multi-agent Control / IEEE Transactions on Robotics and Automation 17 (6) : 947 ~ 951
2. [학술대회논문] - Barth, E. J. / 2006 / A cooperative control structure for UAV' sexecuting a cooperative ground moving target engagement (CGMTE) scenario / Proceedings of the American Control Conference : 2183 ~ 2190
3. [인터넷자원] - Bellingham, J.G. / / Real-time Oceanography with Autonomous Ocean Sampling Networks, ONR annual report
4. [학술지(정기간행물)] - Das, A.K. / 2002 / Avision-based Formation Control Framework / IEEE Transactions on Robotics and Automation 18 (5) : 813 ~ 825
5. [학술지(정기간행물)] - Egerstedt, M. / 2001 / Formation Constrained Multi-agent Control / IEEE Transactions on Robotics and Automation 17 (6) : 947 ~ 951
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UCI(KEPA) : I410-ECN-0101-2013-559-002691704