Virtual structure based target-enclosing strategies for nonholonomic agents

Hiroki Kawakami, Toru Namerikawa

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

18 Citations (Scopus)

Abstract

In this paper, we discuss a target-enclosing problem for a group of multiple nonholonomic agents in a plane. The proposed strategies guarantee that multiple agents' coordination finally results in a circular formation enclosing the targe-to-bject which moves in the plane. Firstly, virtual agents for the feedback linearization of the real nonholonomic agents are introduced. Secondly, we propose the target-enclosing control laws based on the consensus algorithm to the virtual agents. Algebraic graph theory and consensus algorithm are employed to prove convergence and stability of the enclosing problem. Finally, experiments are provided to demonstrate the effectiveness of the proposed control laws.

Original languageEnglish
Title of host publication17th IEEE International Conference on Control Applications, CCA
Pages1043-1048
Number of pages6
DOIs
Publication statusPublished - 2008
Event17th IEEE International Conference on Control Applications, CCA - San Antonio, TX, United States
Duration: 2008 Sep 32008 Sep 5

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Other

Other17th IEEE International Conference on Control Applications, CCA
CountryUnited States
CitySan Antonio, TX
Period08/9/308/9/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

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  • Cite this

    Kawakami, H., & Namerikawa, T. (2008). Virtual structure based target-enclosing strategies for nonholonomic agents. In 17th IEEE International Conference on Control Applications, CCA (pp. 1043-1048). [4629702] (Proceedings of the IEEE International Conference on Control Applications). https://doi.org/10.1109/CCA.2008.4629702