Formation Control for Nonholonomic Agents Using Passivity Techniques

WU Fan; GENG Zhi-yong

doi:10.3879/j.issn.1000-0887.2010.01.004

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WU Fan, GENG Zhi-yong. Formation Control for Nonholonomic Agents Using Passivity Techniques[J]. Applied Mathematics and Mechanics, 2010, 31(1): 26-34. doi: 10.3879/j.issn.1000-0887.2010.01.004

Citation:

WU Fan, GENG Zhi-yong. Formation Control for Nonholonomic Agents Using Passivity Techniques[J]. Applied Mathematics and Mechanics, 2010, 31(1): 26-34. doi: 10.3879/j.issn.1000-0887.2010.01.004

Citation:

WU Fan, GENG Zhi-yong. Formation Control for Nonholonomic Agents Using Passivity Techniques[J]. Applied Mathematics and Mechanics, 2010, 31(1): 26-34. doi: 10.3879/j.issn.1000-0887.2010.01.004

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Formation Control for Nonholonomic Agents Using Passivity Techniques

doi: 10.3879/j.issn.1000-0887.2010.01.004

State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, Peking University, Beijing 100871, P. R. China

Received Date: 2009-04-14
Rev Recd Date: 2009-11-09
Publish Date: 2010-01-15

Abstract

Abstract

The problem of formation control for multiple nonholonomic agents on a plane was studied. A dynamic feedback linearization method was used to transform each agent's dynamicalmodel in to two third-order in tegrator chains. Then a decentralized formation control law with inter-agent damping in jection was derived. A symptotical stability of the overall system was proved by Liapunov method. Simulation for a planar vehicles. formation maneuver shows the effectiveness of the proposed strategy.
- nonholonomic agents,
- formation,
- full-state linearization,
- passivity

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References(14)

References

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