Finite Time Optimal Formation Control for Multiple Vehicles

摘要：

　　The paper studies the problem of finite time formation control for multiple vehicles.The vehicle is modeled as the full actuated rigid body,both the formation time and the geometric structure of the formation are specified by the task.An open optimal control law is derived by using Pontryagins minimum principle,and is converted to the closed form by feeding the current state back under the assumption that the mode of communication between the vehicles is all-to-all.For the demonstration of the result,a numerical example of formation for planar vehicles is included.

关键词： Formation Control Consensus Multiple Vehicles Motion Planning

作者: Zhiyong, Geng

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

会议类型: 国际会议

会议名称: 第26届中国控制与决策会议(2014 CCDC)

会议地点: 长沙

会议语种:英文

页码: 3657-3662

在线出版日期: 2014-05-31（万方平台首次上网日期，不代表论文的发表时间）