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

Chika Yoshioka, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

32 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 languageEnglish
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
DOIs
Publication statusPublished - 2008 Dec 1
Externally publishedYes
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: 2008 Jul 62008 Jul 11

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period08/7/608/7/11

Keywords

  • Cooperative systems
  • Coordination of multiple vehicle systems
  • Multi-agent systems

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    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 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.2027