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Applied Mathematics and Mechanics (English Edition) ›› 2010, Vol. 31 ›› Issue (1): 27-36.doi: https://doi.org/10.1007/s10483-010-0104-x

• Articles • 上一篇    下一篇

Formation control for nonholonomic agents using passivity techniques

吴凡 耿志勇   

  1. State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, Peking University, Beijing 100871, P. R. China
  • 收稿日期:2009-04-14 修回日期:2009-11-09 出版日期:2010-01-03 发布日期:2010-01-01

Formation control for nonholonomic agents using passivity techniques

 WU Fan, GENG Zhi-Yong   

  1. State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, Peking University, Beijing 100871, P. R. China
  • Received:2009-04-14 Revised:2009-11-09 Online:2010-01-03 Published:2010-01-01

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被引次数

2

摘要： This paper studies the problem of the formation control for the multiple nonholonomic agents on a plane. A dynamic feedback linearization method is used to transform the dynamical model of each agent into two third-order integrator chains. A decentralized formation control law with the inter-agent damping injection is derived. The asymptotical stability of the overall system is proven using the Lyapunov method. The simulation of the formation maneuver of a planar vehicle shows the effectiveness of the proposed method.

关键词: nonholonomic agents, formation, full-state linearization, passivity

Abstract: This paper studies the problem of the formation control for the multiple nonholonomic agents on a plane. A dynamic feedback linearization method is used to transform the dynamical model of each agent into two third-order integrator chains. A decentralized formation control law with the inter-agent damping injection is derived. The asymptotical stability of the overall system is proven using the Lyapunov method. The simulation of the formation maneuver of a planar vehicle shows the effectiveness of the proposed method.

Key words: nonholonomic agents, formation, full-state linearization, passivity

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