Virtual structure based target-enclosing strategies for nonholonomic agents

Hiroki Kawakami, Toru Namerikawa

研究成果: Conference contribution

21 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル17th IEEE International Conference on Control Applications, CCA
ページ1043-1048
ページ数6
DOI
出版ステータスPublished - 2008
外部発表はい
イベント17th IEEE International Conference on Control Applications, CCA - San Antonio, TX, United States
継続期間: 2008 9月 32008 9月 5

出版物シリーズ

名前Proceedings of the IEEE International Conference on Control Applications

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 数学 (全般)

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