Formation control for nonholonomic agents using passivity techniques

Abstract：This paper studies the problem of the formation control for the multiple nonholonomic agents on a plane. A dynamic feedback linearization method is used to transform the dynamical model of each agent into two third-order integrator chains. A decentralized formation control law with the inter-agent damping injection is derived. The asymptotical stability of the overall system is proven using the Lyapunov method. The simulation of the formation maneuver of a planar vehicle shows the effectiveness of the proposed method. 作者： Author： Zhi-yong GENG 作者單位： State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, Peking University, Beijing 100871, P. R. China 期 刊： 應(yīng)用數(shù)學(xué)和力學(xué)（英文版）   EISCI Journal： APPLIED MATHEMATICS AND MECHANICS 年，卷(期)： 2010, 31(1) 分類號： V421.4 Keywords： nonholonomic agents    formation    full-state linearization    passivity    機標分類號： TP1 TP2 機標關(guān)鍵詞： techniques    agents    formation control    feedback linearization    asymptotical stability    dynamical model    effectiveness    control law    multiple    Lyapunov    studies    paper    two 基金項目： 國家自然科學(xué)基金

【Formation control for nonholonomic a】相關(guān)文章：

Design and control of multiple spacecraft formation flying in elliptical orbits05-02

Solar radiation pressure used for formation flying control around the Sun-Earth libration point05-07

Birth Control05-04

Autonomous Control Reconfiguration of Aerospace Vehicle Based on Control Effectiveness Estimation04-30

Remote Control Guidance Law Design Using Variable Structure Control04-27

Pathways of birnessite formation in alkali medium05-01

Debris Flow Dam Formation in Southeast Tibet04-29

Thermal simulation of the formation and evolution of coalbed gas04-28

Control of Slave EDFA with Master EDFA05-02

Progress in the Study on the Formation of the Summertime Subtropical Anticyclone05-01