TY - GEN
T1 - Virtual structure based target-enclosing strategies for nonholonomic agents
AU - Kawakami, Hiroki
AU - Namerikawa, Toru
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=53349095468&partnerID=8YFLogxK
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U2 - 10.1109/CCA.2008.4629702
DO - 10.1109/CCA.2008.4629702
M3 - Conference contribution
AN - SCOPUS:53349095468
SN - 9781424422234
T3 - Proceedings of the IEEE International Conference on Control Applications
SP - 1043
EP - 1048
BT - 17th IEEE International Conference on Control Applications, CCA
T2 - 17th IEEE International Conference on Control Applications, CCA
Y2 - 3 September 2008 through 5 September 2008
ER -