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： 應用數學和力學（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： 國家自然科學基金

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