Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7116584 | ISA Transactions | 2017 | 8 Pages |
Abstract
In this paper, we investigate the consensus problem for networked underactuated thrust-propelled vehicles (TPVs) interacting on directed graphs. We propose distributed observer-based consensus protocols, which avoid the reliance on the measurements of translational velocities and accelerations. Using the input-output analysis, we present necessary and sufficient conditions to ensure that the observer-based protocols can achieve consensus for both the cases without and with constant communication delays, provided that the communication graph contains a directed spanning tree. Simulation examples are finally provided to illustrate the effectiveness of the control schemes.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Weiye Cang, Zhongkui Li, Hanlei Wang,