Formation control for nonholonomic a

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 作者单位： State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, Peking University, Beijing 100871, P. R. China 期 刊： 应用数学和力学（英文版）   EISCI Journal： APPLIED MATHEMATICS AND MECHANICS 年，卷(期)： 2010, 31(1) 分类号： V421.4 Keywords： nonholonomic agents    formation    full-state linearization    passivity    机标分类号： TP1 TP2 机标关键词： techniques    agents    formation control    feedback linearization    asymptotical stability    dynamical model    effectiveness    control law    multiple    Lyapunov    studies    paper    two 基金项目： 国家自然科学基金

【Formation control for nonholonomic a】相关文章：

Design and control of multiple spacecraft formation flying in elliptical orbits07-29

Solar radiation pressure used for formation flying control around the Sun-Earth libration point07-25

Birth Control04-05

Remote Control Guidance Law Design Using Variable Structure Control11-04

Autonomous Control Reconfiguration of Aerospace Vehicle Based on Control Effectiveness Estimation07-15

Quality Control Resume01-01

Pathways of birnessite formation in alkali medium08-27

Lie Symmetries and Non-Noether Conserved Quantities of Nonholonomic Systems10-07

Progress in the Study on the Formation of the Summertime Subtropical Anticyclone08-27