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Ceccarelli, N., DI MARCO, M., Garulli, A., Giannitrapani, A. (2005). Collective circular motion of multi-vehicle systems with sensory limitations. In Proceedings of the 44th IEEE Conference on Decision and Control and the European Control Conference 2005 (pp.740-745). New York : IEEE [10.1109/CDC.2005.1582245].

Collective circular motion of multi-vehicle systems with sensory limitations

CECCARELLI N.;DI MARCO M.;GARULLI A.;GIANNITRAPANI A.
2005-01-01
2005
0780395670
Collective motion of a multi-agent system composed of nonholonomic vehicles is addressed. The aim of the vehicles is to achieve rotational motion around a virtual reference beacon. A control law is proposed, which guarantees global asymptotic stability of the circular motion with a prescribed direction of rotation, in the case of a single vehicle. Equilibrium configurations of the multi-vehicle system are studied and sufficient conditions for their local stability are given, in terms of the control law design parameters. Practical issues related to sensory limitations are taken into account. The transient behavior of the multi-vehicle system is analyzed via numerical simulations.
Ceccarelli, N., DI MARCO, M., Garulli, A., Giannitrapani, A. (2005). Collective circular motion of multi-vehicle systems with sensory limitations. In Proceedings of the 44th IEEE Conference on Decision and Control and the European Control Conference 2005 (pp.740-745). New York : IEEE [10.1109/CDC.2005.1582245].
4.1 Contributo in Atti di convegno
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/3012
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