Formation control Based on Second-order Feedback Linearization
Formation control using feedback linearization is developed in this paper. The purpose of the work is that the relative trajectory between follower and leader is linearized in velocity coordinate system in order to accurately control its dynamic process. Considering not all states of the leader which are necessary for complete linearization can be measured in some cases, both full state feedback and non-full state feedback are discussed for the formation control. When the relative trajectory is affected by the unmeasured states in non-full state feedback case, the bounded position error caused by the disturbance can be guaranteed and the formation controller still works well. Simulation results are presented to demonstrate the formation control performance even if the course angle of the leader is changeable.
Formation control helicopter feedback linearization dynamic inversion
Yihui Lin Mou Chen Rong Mei
College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, Criminal Investigation Department, Nanjing Forest Police College, Nanjing 210042, China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
5014-5018
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）