Leader-follower and cascade system based formation control of nonholonomic intelligent vehicles
This paper presents a new framework for the formation control of nonholonomic intelligent vehicles combining the leader-follower and cascade system together.The formation model is obtained based on the leader-follower approach.The controllers are designed by using global fast terminal sliding mode control technique for the leader who tracks the reference trajectory and back-stepping method for the follower to keep the predetermined formation movement.Furthermore,the leader and follower of intelligent vehicles can be treated as every part of the cascade system,which relies on a kind of multi-platform information fusion technology to realize communication among vehicles.Simulation results show the correctness and effectiveness of the algorithm.
Formation control Nonholonomic intelligent vehicles Leader-follower Cascade system
Chuang Guo Jiali Qin Yanrong Ge Yangzhou Chen
Beijing University of Technology,Beijing 100124 Beijing University of Technology,Beijing 100124;Hebei Normal University,Shijiazhuang 050024
国际会议
长沙
英文
3931-3935
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）