CDC2000 Formation Control and its Applications

Formation Control and its Applications
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	Nonlinear Tracking Control for Satellite Formations Authors: Hsi-Han Yeh, Eric B. Nelson, Andrew G. Sparks, Volume: 1, Page 328 Paper number 2301 Abstract: A tracking control law using a sliding mode framework is derived to control a satellite formation. Hill's relative motion equations are used to model the follower satellite's motion relative to the leader. To minimize fuel required to maintain the formation, each satellite is constrained to reside near a natural orbit. Control forces are applied only to maintain the desired relative motion by correcting for initial offsets and perturbation effects that tend to disperse the formation. The control law is modified to account for the discontinuous nature of the control forces available with the satellite propulsive thrusters. Numerical simulations using a high-fidelity, nonlinear model demonstrate the control law performance for the full nonlinear dynamics with high order perturbations. CD002301.PDF (From Author) TOP Control of Low Earth Orbit Satellite Clusters Authors: Jorge E. Tierno, Volume: 1, Page 334 Paper number 2302 Abstract: In this paper we discuss the application of the perceptive control theory to the control of satellites flying in formation. We present the algorithms used and discuss some of their properties. CD002302.PDF (From Author) TOP Control and Random Searching with Multiple Robots Authors: A.J. Healey, J. Kim, Volume: 1, Page 340 Paper number 2303 Abstract: Modeling and Simulation is an important tool for the evaluation of new concept systems. In particular, new system concepts are being developed for minefield reconnaissance and neutralization using robot vehicles. Also, with an emphasis on low cost, these systems are being focussed on multi-robot capabilities using fleets of similar and dissimilar vehicles in cooperative behaviors. The problems of operating in the very shallow water areas (VSW) are increased by the action of waves and currents, uneven bottom topography, and noisy acoustic environments. This paper will discuss the elements of modeling and simulation methodology for the study of system performance analysis in minefield reconnaissance and object mapping in Very Shallow Water (VSW) environments. Crawling and swimming vehicles are considered, although the focus is on the first. Vehicle locomotion models are proposed. Wave and current models are discussed by reference to other ongoing research. The modeling of object detection sensors, and vehicle navigation sensors are also given. Using these principles given above, reference is made to the importance of two types of simulator - a graphics based visualization simulator that views the interactive behavior of robots and environmental objects, and a Monte Carlo low resolution simulator that allows the study of system effectiveness. In an example of a VSW operation with crawling vehicles, results are given that illustrates the effect of control logic parameters, on the time it takes to complete the reconnaissance mission. Also, other control parameters are studied including the effect of changes in the detection range of the primary sensor. CD002303.PDF (From Author) TOP Coordinated Motion Control of Multiple Robots Without Position Information of Each Robot Authors: Yasuhisa Hirata, Kazuhiro Kosuge, Volume: 1, Page 346 Paper number 2304 Abstract: We propose a decentralized motion control algorithm of multiple mobile robots transporting a single object in coordination. In this algorithm, each robot is controlled as if it has a caster-like dynamics and transports a single object in coordination with other robots without using the geometric relations among robots. The proposed control algorithm is experimentally applied to multiple mobile robots. Experimental results illustrate the validity of the proposed control algorithm. CD002304.PDF (From Author) TOP Theory and Applications of Formation Control in a Perceptive Referenced Frame Authors: Wei Kang, Ning Xi, Andrew G. Sparks, Volume: 1, Page 352 Paper number 2305 Abstract: A general method of controller design is developed in this paper for the purpose of formation keeping and reconfiguration of multiple autonomous vehicles. Controllers are designed to keep multiple vehicles in a required formation, and to coordinate the vehicles in the presence of environmental changes. The method is applicable to a large variety of autonomous agents. Examples and simulations are given for ground vehicles, robotic arms and satellites. CD002305.PDF (From Author) TOP Cooperative Formation Among Multiple Mobile Robot Teleoperation in Inspection Task Authors: Tsuyoshi Suzuki, Takeshi Sekine, Teruo Fujii, Hajime Asama, Isao Endo, Volume: 1, Page 358 Paper number 2306 Abstract: The paper discusses multi-robot teleoperation system considering cooperation between human operator and multiple robots in inspection task. A prototype of the teleoperation system is developed and implemented on an actual testing platform that consists of multiple omni-directional mobile robots. Cooperative formations among multiple mobile robots are proposed. Performance of the developed system is examined through the experimental example of an inspection task. CD002306.PDF (From Author) TOP Formation Maneuvers in Three Dimensions Authors: James K. Hall, Meir Pachter, Volume: 1, Page 364 Paper number 1510 Abstract: The flying of aircraft in formation necessitates the extension of the theory of formation flight control to allow for three dimensional formation maneuvers. A leader and wingman formation is considered. A rotating reference frame attached to the wingman is used and special attention is given to the motion of the leader relative to the wingman. A seven state, three input, and three disturbance signal control system which models the dynamics of a two-aircraft formation in three dimensional space is developed. Two formation flight control concepts are investigated. A proportional, integral, and derivative automatic control system to maintain the wing aircraft in the specified formation geometry despite the leader's maneuvers is designed, and its performance is examined in simulation experiments. CD001510.PDF (From Author) TOP