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

Chika Yoshioka, Toru Namerikawa

研究成果: Conference contribution

42 被引用数 (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.

本文言語English
ホスト出版物のタイトルProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
1 PART 1
DOI
出版ステータスPublished - 2008 12月 1
外部発表はい
イベント17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
継続期間: 2008 7月 62008 7月 11

出版物シリーズ

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

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学

フィンガープリント

「Formation control of nonholonomic multi-vehicle systems based on virtual structure」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル