Formation control for nonholonomic agents using passivity techniques

作     者：吴凡 耿志勇 

作者机构：State Key Laboratory for Turbulence and Complex SystemsDepartment of Mechanics and Aerospace EngineeringPeking University 

出 版 物：《Applied Mathematics and Mechanics(English Edition)》 (应用数学和力学（英文版）)

年 卷 期：2010年第31卷第1期

页      面：27-36页

核心收录：

学科分类：082502[工学-航空宇航推进理论与工程] 08[工学] 0825[工学-航空宇航科学与技术] 

基　　金：supported by the National Natural Science Foundation of China (No. 10832006) 

主　　题：nonholonomic agents formation full-state linearization passivity 

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.