Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published September 2003 | Published
Book Section - Chapter Open

Nonlinear and cooperative control of multiple hovercraft with input constraints

Abstract

In this paper, we introduce an approach for distributed nonlinear control of multiple hovercraft-type underactuated vehicles with bounded and unidirectional inputs. First, a bounded nonlinear controller is given for stabilization and tracking of a single vehicle, using a cascade backstepping method. Then, this controller is combined with a distributed gradient-based control for multi-vehicle formation stabilization using formation potential functions previously constructed. The vehicles are used in the Caltech Multi-Vehicle Wireless Testbed (MVWT). We provide simulation and experimental results for stabilization and tracking of a single vehicle, and a simulation of stabilization of a six-vehicle formation, demonstrating that in all cases the control bounds and the control objective are satisfied.

Additional Information

© 2003 IEEE. Partial support for this work was provided by DARPA under grant F33615-98-C-3613. The authors thank Steve Waydo for his help with the experimental results.

Attached Files

Published - 07085246.pdf

Files

07085246.pdf
Files (1.0 MB)
Name Size Download all
md5:99a05cc377e19bca85d164ed83e4cb40
1.0 MB Preview Download

Additional details

Created:
August 19, 2023
Modified:
October 23, 2023