Formation control of nonholonomic multi-vehicle systems based on virtual structure

Chika Yoshioka; Toru Namerikawa

doi:10.3182/20080706-5-KR-1001.2027

Formation control of nonholonomic multi-vehicle systems based on virtual structure

Chika Yoshioka, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

39 Citations (Scopus)

Abstract

This paper deals with formation control strategies based on Virtual Structure (VS) for multi-vehicle systems. We propose several control laws for networked multi-nonholonomic vehicle systems in order to achieve VS consensus, VS Flocking and VS Flocking with collisionavoidance. First, Virtual Vehicle for the feedback linearization is considered, and we propose VS consensus and Flocking control laws based on a virtual structure and consensus algorithms. Then, VS Flocking control law considering collision avoidance is proposed and its asymptotical stability is proven. Finally, simulation and experimental results show effectiveness of our proposed approaches.

Original language	English
Title of host publication	Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition	1 PART 1
DOIs	https://doi.org/10.3182/20080706-5-KR-1001.2027
Publication status	Published - 2008 Dec 1
Externally published	Yes
Event	17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of Duration: 2008 Jul 6 → 2008 Jul 11

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	1 PART 1
Volume	17
ISSN (Print)	1474-6670

Other

Other	17th World Congress, International Federation of Automatic Control, IFAC
Country/Territory	Korea, Republic of
City	Seoul
Period	08/7/6 → 08/7/11

Keywords

Cooperative systems
Coordination of multiple vehicle systems
Multi-agent systems

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.3182/20080706-5-KR-1001.2027

Cite this

Formation control of nonholonomic multi-vehicle systems based on virtual structure. / Yoshioka, Chika; Namerikawa, Toru.
Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1. ed. 2008. (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yoshioka, C & Namerikawa, T 2008, Formation control of nonholonomic multi-vehicle systems based on virtual structure. in Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. 1 PART 1, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, Korea, Republic of, 08/7/6. https://doi.org/10.3182/20080706-5-KR-1001.2027

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abstract = "This paper deals with formation control strategies based on Virtual Structure (VS) for multi-vehicle systems. We propose several control laws for networked multi-nonholonomic vehicle systems in order to achieve VS consensus, VS Flocking and VS Flocking with collisionavoidance. First, Virtual Vehicle for the feedback linearization is considered, and we propose VS consensus and Flocking control laws based on a virtual structure and consensus algorithms. Then, VS Flocking control law considering collision avoidance is proposed and its asymptotical stability is proven. Finally, simulation and experimental results show effectiveness of our proposed approaches.",

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AB - This paper deals with formation control strategies based on Virtual Structure (VS) for multi-vehicle systems. We propose several control laws for networked multi-nonholonomic vehicle systems in order to achieve VS consensus, VS Flocking and VS Flocking with collisionavoidance. First, Virtual Vehicle for the feedback linearization is considered, and we propose VS consensus and Flocking control laws based on a virtual structure and consensus algorithms. Then, VS Flocking control law considering collision avoidance is proposed and its asymptotical stability is proven. Finally, simulation and experimental results show effectiveness of our proposed approaches.

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KW - Multi-agent systems

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Formation control of nonholonomic multi-vehicle systems based on virtual structure

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this