An Approach to Formation Maneuvers of Multiple Nonholonomic Agents using Passivity Techniques

摘要：

This paper studies the problem of formation maneuver of multiple nonholonomic agents. A dynamic feedback linearization method is used to transform each agents dynamic model into two chains of 3rd order integrator. Then a decentralized discontinuous formation control law with inter-agent damping injection is derived. Asymptotical stability of the overall system is proved by using Lyapunov method. The proposed algorithm is applied to a nonholonomic multi-vehicles formation maneuver simulation, which shows the effectiveness of our strategy.

关键词： Multiple nonholonomic agents Formation Full-state linearization Passivity

作者: Wu Fan Geng Zhiyong

作者单位: The State Key Laboratory for Turbulence and Complex Systems,Department of Mechanics and Aerospace Engineering,Peking University,Beijing 100871

会议类型: 国际会议

会议名称: 2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

会议地点: 广西桂林

会议语种:英文

页码: 5007-5012

在线出版日期: 2009-06-17（万方平台首次上网日期，不代表论文的发表时间）