A Supervisory Control Strategy for Visibility Maintenance Inthe Leader-Follower Formation
Publish Year: 1395
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_JKBEI-2-5_001
تاریخ نمایه سازی: 17 شهریور 1395
Abstract:
This paper deals with the leader-follower formation control problem while measurement constraints are considered for the follower onboard sensor. From a practical point of view, the case when unmanned vehicles are subject to limited sensing and communication is of particular interest. In this work based on the state-space representation of the leader-follower relative kinematics, the formation is realized by employing a state feedback. Then, by considering the limited field of view in the measurement sensor, a soft-switching supervisory control strategy is proposed. This paper is distinct with respect to the existing studies in the sensor measurements specifications, the leader-follower system formulation and proposed control strategy for visibility maintenance problem. Simulation results verify the effectiveness of the proposed control structure.
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Authors
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