Sinha, A and Ghose, D (2007) Generalization of nonlinear cyclic pursuit. In: Automatica, 43 (11). pp. 1954-1960.
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In this paper, some generalizations of the problem of formation of a group of autonomous mobile agents under nonlinear cyclic pursuit is studied. Cyclic pursuit is a simple distributed control law, in which the agent $i$ pursues agent $i$ + 1 modulo $n$. Each agent is subjected to a nonholonomic constraint. A necessary condition for equilibrium formation to occur among a group of agents with different speeds and different controller gains is obtained. These results generalize equal speed and equal controller gain results available in the literature.
|Item Type:||Journal Article|
|Additional Information:||Copyright of this article belongs to Elsevier.|
|Keywords:||Autonomous system;Multi-vehicle formations;Cooperative control;Pursuit problems;Decentralized control;Nonlinear dynamical systems.|
|Department/Centre:||Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)|
|Date Deposited:||16 Sep 2008 10:16|
|Last Modified:||19 Sep 2010 04:49|
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