International Journal of Robust and Nonlinear Control

Volume 21, Issue 12 pp. 1410-1420

Special Issue Paper

Communication-based performance bounds in nonlinear coordinated control

Nathan D. Powel,

Corresponding Author

Nathan D. Powel

[email protected]

Department of Aeronautics and Astronautics, University of Washington, Seattle, WA 98195-2400, U.S.A.

Box 352250, AERB 120, University of Washington, Seattle, WA 98195-2250, U.S.A.===Search for more papers by this author

Kristi A. Morgansen,

Kristi A. Morgansen

Department of Aeronautics and Astronautics, University of Washington, Seattle, WA 98195-2400, U.S.A.

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Nathan D. Powel,

Corresponding Author

Nathan D. Powel

[email protected]

Department of Aeronautics and Astronautics, University of Washington, Seattle, WA 98195-2400, U.S.A.

Box 352250, AERB 120, University of Washington, Seattle, WA 98195-2250, U.S.A.===Search for more papers by this author

Kristi A. Morgansen,

Kristi A. Morgansen

Department of Aeronautics and Astronautics, University of Washington, Seattle, WA 98195-2400, U.S.A.

Search for more papers by this author

First published: 15 February 2011

https://doi.org/10.1002/rnc.1697

Citations: 5

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Abstract

The work in this paper addresses the performance characteristics of a group of autonomous vehicles utilizing coordinated motion control. The vehicle dynamics correspond to planar unicycle systems with constant forward speed and heading control, and the coordination is implemented via phase-coupled oscillation, such as Kuramoto oscillators. We provide bounds on vehicle transient behavior in terms of maximal displacement from nominal and relation of those bounds to communication bandwidth and energy. Results are demonstrated in simulation. Copyright © 2011 John Wiley & Sons, Ltd.

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Volume21, Issue12

Special Issue:Cooperative Control of Autonomous Systems

August 2011

Pages 1410-1420

Communication-based performance bounds in nonlinear coordinated control

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Communication-based performance bounds in nonlinear coordinated control

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