Edge Dynamics based Distributed Formation Controller Design for Unmanned Vehicle Groups

被引：21
|
作者：
Dinh Hoa Nguyen [1 ,2 ]
机构：
[1] Kyushu Univ, Int Inst Carbon Neutral Energy Res WPI I2CNER, Fukuoka 8190395, Japan
[2] Kyushu Univ, Inst Math Ind IMI, Fukuoka 8190395, Japan
来源：
2019 IEEE VEHICLE POWER AND PROPULSION CONFERENCE (VPPC) | 2019年
关键词：
formation control; edge dynamics; unmanned vehicles; multi-agent system; CONSENSUS;
D O I：
10.1109/vppc46532.2019.8952226
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper proposes a novel approach based on the edge dynamics to design a distributed formation controller for multi-agent systems with generic linear dynamics. Consequently, sufficient conditions are derived under which a desired formation pattern can be achieved. The obtained results are then utilized to design controllers for a group of unmanned front-wheel steering vehicles with nonlinear models such that they achieve an expected formation. Simulation results on a vehicle group shows the efficiency of the proposed approach.
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收藏
页数：5
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