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

Chika Yoshioka, Toru Namerikawa

研究成果: Conference contribution

29 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトルIFAC Proceedings Volumes (IFAC-PapersOnline)
17
エディション1 PART 1
DOI
出版物ステータスPublished - 2008
外部発表Yes
イベント17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
継続期間: 2008 7 62008 7 11

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
Korea, Republic of
Seoul
期間08/7/608/7/11

Fingerprint

Feedback linearization
Collision avoidance

ASJC Scopus subject areas

  • Control and Systems Engineering

これを引用

Formation control of nonholonomic multi-vehicle systems based on virtual structure. / Yoshioka, Chika; Namerikawa, Toru.

IFAC Proceedings Volumes (IFAC-PapersOnline). 巻 17 1 PART 1. 編 2008.

研究成果: Conference contribution

Yoshioka, C & Namerikawa, T 2008, Formation control of nonholonomic multi-vehicle systems based on virtual structure. : IFAC Proceedings Volumes (IFAC-PapersOnline). 1 PART 1 Edn, 巻. 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
Yoshioka, Chika ; Namerikawa, Toru. / Formation control of nonholonomic multi-vehicle systems based on virtual structure. IFAC Proceedings Volumes (IFAC-PapersOnline). 巻 17 1 PART 1. 版 2008.
@inproceedings{14dd245770204976b7c8fab338cb7fbe,
title = "Formation control of nonholonomic multi-vehicle systems based on virtual structure",
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.",
keywords = "Cooperative systems, Coordination of multiple vehicle systems, Multi-agent systems",
author = "Chika Yoshioka and Toru Namerikawa",
year = "2008",
doi = "10.3182/20080706-5-KR-1001.2027",
language = "English",
isbn = "9783902661005",
volume = "17",
booktitle = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
edition = "1 PART 1",

}

TY - GEN

T1 - Formation control of nonholonomic multi-vehicle systems based on virtual structure

AU - Yoshioka, Chika

AU - Namerikawa, Toru

PY - 2008

Y1 - 2008

N2 - 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.

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.

KW - Cooperative systems

KW - Coordination of multiple vehicle systems

KW - Multi-agent systems

UR - http://www.scopus.com/inward/record.url?scp=79961019605&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79961019605&partnerID=8YFLogxK

U2 - 10.3182/20080706-5-KR-1001.2027

DO - 10.3182/20080706-5-KR-1001.2027

M3 - Conference contribution

AN - SCOPUS:79961019605

SN - 9783902661005

VL - 17

BT - IFAC Proceedings Volumes (IFAC-PapersOnline)

ER -