Indirect adaptive formation control with nonlinear dynamics and parametric uncertainty
| dc.contributor.author | Güler, Samet | |
| dc.contributor.author | Köksal, Nasrettin | |
| dc.contributor.author | Fidan, Barış | |
| dc.contributor.author | Gazi, Veysel | |
| dc.date.accessioned | 2021-05-15T12:41:01Z | |
| dc.date.available | 2021-05-15T12:41:01Z | |
| dc.date.issued | 2013 | |
| dc.department | Mühendislik ve Doğa Bilimleri Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü | en_US |
| dc.description | 9th Asian Control Conference (ASCC) -- JUN 23-26, 2013 -- Istanbul, TURKEY | |
| dc.description | Gazi, Veysel/0000-0002-4383-9215; | |
| dc.description.abstract | This paper focuses on coordination of multi-agent systems with agents having holonomic nonlinear dynamics and uncertain system parameters. An indirect adaptive control scheme composed of a parameter estimator and a feedback-linearization based control law is designed based on the certainty equivalence principle. (i) Simple linear and (ii) sliding mode control structures are used in the outer control loop. The controllers successfully satisfy the objectives of formation maintenance and trajectory tracking. Simulation results for a sample two-dimensional formation are presented, demonstrating the performance of the proposed control scheme. | en_US |
| dc.description.sponsorship | Canadian NSERC Discovery [116806]; (Turkish Ministry of National Education)Ministry of National Education - Turkey; Scientific and Technological Research Council of Turkey (TUBIyTAK) [109E175] | en_US |
| dc.description.sponsorship | The work of S. Guler, N. Koksal, and B. Fidan is supported by the Canadian NSERC Discovery Grant 116806. N. Koksal holds a MEB (Turkish Ministry of National Education) scholarship. The work of V. Gazi was supported by the Scientific and Technological Research Council of Turkey (TUBIyTAK) under grant no 109E175. | en_US |
| dc.identifier.isbn | 978-1-4673-5769-2; 978-1-4673-5767-8 | |
| dc.identifier.issn | 2072-5639 | |
| dc.identifier.scopus | 2-s2.0-84886495988 | |
| dc.identifier.scopusquality | N/A | |
| dc.identifier.uri | https://hdl.handle.net/20.500.12939/730 | |
| dc.identifier.wos | WOS:000333734900396 | |
| dc.identifier.wosquality | N/A | |
| dc.indekslendigikaynak | Web of Science | |
| dc.indekslendigikaynak | Scopus | |
| dc.institutionauthor | Gazi, Veysel | |
| dc.language.iso | en | |
| dc.publisher | Ieee | en_US |
| dc.relation.ispartof | 2013 9Th Asian Control Conference (Ascc) | |
| dc.relation.ispartofseries | Asian Control Conference ASCC | |
| dc.relation.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| dc.rights | info:eu-repo/semantics/closedAccess | en_US |
| dc.subject | Parametric Uncertainty | en_US |
| dc.subject | Nonlinear Dynamics | en_US |
| dc.title | Indirect adaptive formation control with nonlinear dynamics and parametric uncertainty | |
| dc.type | Conference Object |
