Formation control for nonholonomic agents using passivity techniques

被引：0
|
作者：
Fan Wu
Zhi-yong Geng
机构：
[1] Peking University,State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering
来源：
Applied Mathematics and Mechanics | 2010年 / 31卷
关键词：
nonholonomic agents; formation; full-state linearization; passivity; V421.4; 37N30;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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.
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页码：27 / 36
页数：9
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