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