Ring Formation Maneuver: Double-Integrator Kinematics with Input Saturation

2021 ◽  
pp. 1-8
Author(s):  
Dzung Tran ◽  
David Casbeer ◽  
Eloy Garcia ◽  
Isaac E. Weintraub ◽  
Dejan Milutinović
Keyword(s):  
Input Saturation ◽  
Ring Formation ◽  
Double Integrator

Ring Formation Maneuvering with Double Integrator Dynamics*

2021 ◽  
Author(s):  
Dzung Tran ◽  
David Casbeer ◽  
Eloy Garcia ◽  
Isaac E. Weintraub ◽  
Dejan Milutinovic
Keyword(s):  
Ring Formation ◽  
Double Integrator

Finite-time stabilization of the double integrator subject to input saturation and input delay

2018 ◽  
Vol 5 (5) ◽  
pp. 1017-1024 ◽  
Author(s):  
Huawen Ye ◽  
Meng Li ◽  
Chunhua Yang ◽  
Weihua Gui
Keyword(s):  
Finite Time ◽  
Input Saturation ◽  
Input Delay ◽  
Finite Time Stabilization ◽  
Double Integrator

scholarly journals SDP-Based Robust Formation-Containment Coordination of Swarm Robotic Systems with Input Saturation

2021 ◽  
Vol 102 (1) ◽  
Author(s):  
Kefan Wu ◽  
Junyan Hu ◽  
Barry Lennox ◽  
Farshad Arvin
Keyword(s):  
Formation Control ◽  
Controller Design ◽  
Input Saturation ◽  
Reference Signal ◽  
Robotic Systems ◽  
Time Data ◽  
Containment Control ◽  
Potential Applications ◽  
Hardware Platforms ◽  
Double Integrator

AbstractThere are many potential applications of swarm robotic systems in real-world scenarios. In this paper, formation-containment controller design for single-integrator and double-integrator swarm robotic systems with input saturation is investigated. The swarm system contains two types of robots—leaders and followers. A novel control protocol and an implementation algorithm are proposed that enable the leaders to achieve the desired formation via semidefinite programming (SDP) techniques. The followers then converge into the convex hull formed by the leaders simultaneously. In contrast to conventional consensus-based formation control methods, the relative formation reference signal is not required in the real-time data transmission, which provides greater feasibility for implementation on hardware platforms. The effectiveness of the proposed formation-containment control algorithm is demonstrated with both numerical simulations and experiments using real robots that utilize the miniature mobile robot, Mona.

Butenolide ring formation in cardenolide biosynthesis: Spontaneous cyclization of pregnane-21-O-malonyl hemiesters

Planta Medica ◽  
2007 ◽  
Vol 73 (09) ◽  
Author(s):  
RM Pádua ◽  
R Waibel ◽  
SP Kuate ◽  
PK Riedl ◽  
P Gmeiner ◽  
...  
Keyword(s):  
Ring Formation
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