Smooth Time-Varying Formation Control of Multiple Nonholonomic Agents

被引：11
|
作者：
Yang, Chenghui [1 ]
Xie, Wenjing [2 ]
Lei, Chen [1 ]
Ma, Baoli [1 ]
机构：
[1] Beihang Univ, Res Div 7, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Southwest Univ, Fac Comp & Informat Sci, Chongqing 400715, Peoples R China
来源：
PROCEEDINGS OF THE 2015 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL 1 | 2016年 / 359卷
关键词：
Asymptotic formation; Cooperative control; Nonholonomic agents; Distributed control; COOPERATIVE CONTROL; CONSENSUS PROBLEMS; MOBILE ROBOTS; ALGORITHMS;
D O I：
10.1007/978-3-662-48386-2_30
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we investigate the position/orientation formation problem of multiple nonholonomic agents. Coordinate transformations are first presented to obtain the matrix form of formation error model, then a distributed smooth time-varying control law is designed based on a Lyapunov-like function. We prove that the closed-formation-system is globally asymptotically stable by Barbalat's lemma if the communication graph is undirected, time-invariant and connected. Simulation results verify the effectiveness of the proposed control scheme.
引用
收藏
页码：283 / 291
页数：9
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