A supervisory control strategy for visibility maintenance inthe leader-follower formation
سال انتشار: 1394
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 472
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شناسه ملی سند علمی:
KBEI02_024
تاریخ نمایه سازی: 5 بهمن 1395
چکیده مقاله:
This paper deals with the leader-follower formation control problem while measurement constraints are considered for the follower onboard sensor. From a practicalpoint of view, the case when unmanned vehicles are subject to limited sensing and communication is of particular interest. Inthis work based on the state-space representation of the leaderfollowerrelative kinematics, the formation is realized by employing a state feedback. Then, by considering the limited fieldof view in the measurement sensor, a soft-switching supervisory control strategy is proposed. This paper is distinct with respect tothe existing studies in the sensor measurements specifications, the leader-follower system formulation and proposed controlstrategy for visibility maintenance problem. Simulation results verify the effectiveness of the proposed control structure
کلیدواژه ها:
نویسندگان
Mohammad A. Dehghani
Department of Electrical Engineering Amirkabir University of Technology Tehran, Iran
Mohammad B. Menhaj
Department of Electrical Engineering Amirkabir University of Technology Tehran, Iran
Meysam Azimi
Department of Electrical Engineering Mazandaran University of Science and Technology Behshahr, Iran