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.
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초록· 키워드
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In this paper, a practical controller for a group of USVs is proposed in order to avoid matrix inversion problems in computation. Using nonlinear mapping, a formation composed of nonholonomic agents can be stabilized even when the formation is stationary. Since there is no matrix inversion in computing the control law, the computation complexity can be resolved. A controller for stabilizing the formation errors in the presence of model uncertainty is considered using the Lyapunov redesign method. The asymptotic stability of the formation errors is shown. It is also shown that the proposed controller can be applied to guide a formation to a different shape without modification.
목차
ABSTRACT
1. 서론
2. 목표 대형의 생성 및 제어기 설계
3. 특이점을 고려한 제어기의 설계
4. 시뮬레이션
5. 결론 및 향후 계획
References
참고문헌 (17)
참고문헌 신청
1. [학술대회논문] - Arrichiello, F / 2006 / Formation Control of Underactuated Surface Vessels using the Null-Space-Based Behavioral Control / Proceeding of IEEE Int. Conf. on Intelligent Robots and Systems
2. [학술지(정기간행물)] - Astolfi, A / 1999 / Exponential Stabilization of a Wheeled Mobile Robot via Discontinuous Control / Journal of Dynamic Systems, Measurement, and Control 121 : 121 ~ 126
3. [학술대회논문] - Badreddin, E / 1993 / Fuzzy-tuned State Feedback Control of a Nonholonomic Mobile Robot / IFAC World Congress 6 : 577 ~ 580
4. [학술지(정기간행물)] - Balch, T / 1998 / Behavior-Based Formation Control for Multirobot Teams / IEEE Transactions on Robotics and Automation 14 (6) : 926 ~ 939
5. [학술대회논문] - Breivik, M / 2008 / Ship Formation Control: A Guided Leader-Follower Approach / Proceeding of IFAC World Congress : 16008 ~ 16014
2. [학술지(정기간행물)] - Astolfi, A / 1999 / Exponential Stabilization of a Wheeled Mobile Robot via Discontinuous Control / Journal of Dynamic Systems, Measurement, and Control 121 : 121 ~ 126
3. [학술대회논문] - Badreddin, E / 1993 / Fuzzy-tuned State Feedback Control of a Nonholonomic Mobile Robot / IFAC World Congress 6 : 577 ~ 580
4. [학술지(정기간행물)] - Balch, T / 1998 / Behavior-Based Formation Control for Multirobot Teams / IEEE Transactions on Robotics and Automation 14 (6) : 926 ~ 939
5. [학술대회논문] - Breivik, M / 2008 / Ship Formation Control: A Guided Leader-Follower Approach / Proceeding of IFAC World Congress : 16008 ~ 16014
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UCI(KEPA) : I410-ECN-0101-2015-550-002606135