Robust Cooperative Control In The Presence Of Obstacles
Publish place: 21th Iranian Conference on Electric Engineering
Publish Year: 1392
Type: Conference paper
Language: English
View: 955
This Paper With 6 Page And PDF Format Ready To Download
- Certificate
- I'm the author of the paper
Export:
Document National Code:
ICEE21_875
Index date: 18 August 2013
Robust Cooperative Control In The Presence Of Obstacles abstract
In this paper, a coordination of two types of heterogeneous robots, namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. The UAV playsthe role of a leader for the UGV. While UAV tracks a predefined geometric path, the UGV is supposed to track the planar positionof UAV and avoid obstacles. Obstacle avoidance may lead to increase in the distance among agents. In order to compensate it, asliding mode based unknown input observer is used to estimate theUGV inputs. In the next step, by utilizing feedback linearization method, the UAV adjusts its motion to keep the required distance. The simulation results validate the performance of the proposed algorithm.
Robust Cooperative Control In The Presence Of Obstacles Keywords:
Robust Cooperative Control In The Presence Of Obstacles authors