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

Chika Yoshioka, Toru Namerikawa

研究成果: Conference contribution

32 引用 (Scopus)

抜粋

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Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
エディション1 PART 1
DOI
出版物ステータスPublished - 2008 12 1
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

出版物シリーズ

名前IFAC Proceedings Volumes (IFAC-PapersOnline)
番号1 PART 1
17
ISSN(印刷物)1474-6670

Other

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

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering

これを引用

Yoshioka, C., & Namerikawa, T. (2008). Formation control of nonholonomic multi-vehicle systems based on virtual structure. : Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 版). (IFAC Proceedings Volumes (IFAC-PapersOnline); 巻数 17, 番号 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.2027