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Finite Time Optimal Formation Control for Multiple Vehicles

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Finite Time Optimal Formation Control for Multiple Vehicles

第26届中国控制与决策会议

作者： zhiyong geng The State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering SciencePeking University

ISBN: (纸本)9781479937097

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

D-SThBILITY TESTING FOR THE INTERVALMATRIX FAMILY

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Systems Science and Mathematical Sciences 1998年第3期11卷 218-226页

作者： WANG Enping geng zhiyong(Institute Of Systems Science, Academia Sinica, Beijing 100080, China)

This paper is concerned with the problem of D-stability testing for the interval matrix family. First, a nonlinearly or affine multilinearly parametrized interval polynomial family is considered. If the mapping from the parameter space to the coefficient space can be expressed as an affine linear mapping of at least two variables, then it is shown that the D-stability of the family is equivalent to that of its low dimensional boundaries. In light of this result, it is proved that to determine the D-stability of an interval matrix family,it suffices to check its n!2n(n-1) n-dimensional exposed faces. Finally the results obtained are extended to the case where the rows or the columns of the matrix family are perturbed independently in different polytopes, and a result analogous to that in the interval case is obtained.

关键词： Robust D-stability interval matrices

Energy shaping for coordinating internally actuated vehicles

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Theoretical & Applied Mechanics Letters 2011年第2期1卷 76-80页

作者： Fan Wu~(a) and zhiyong geng~(b) The State Key Laboratory for Turbulence and Complex Systems,Peking University,Beijing 100871,China The State Key Laboratory for Turbulence and Complex Systems Peking University Beijing 100871 China

This paper considers the stable coordination problem of two vehicles equipping with internal moving mass *** coordinating and stabilizing control are derived by energy shaping. The proposed method is physically motiva... 详细信息

关键词： moving mass actuator under actuated energy shaping stabilization

多输入多输出系统在凸多面体摄动模式下H_∞鲁棒性能

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控制理论与应用 2000年第5期17卷 678-682页

作者：耿志勇黄琳北京大学系统与控制研究中心力学与工程科学系北京100871

研究了多输入多输出混合摄动系统的加权H∞ 范数的检验问题 ,对象族的分子为多仿射凸多面体多项式族 ,当分母为乘积形式的多仿射凸多面体多项式族时 ,给出了棱边检验结果 ,当对象族的分母多项式族为区间多项式族或菱形多项式族时。

关键词： H∝范数多输入多输出系统凸多面体鲁棒性

Specified finite time attitude stabilization for rigid body on SO（3）

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Specified finite time attitude stabilization for rigid body ...

第37届中国控制会议

作者： PENG Xiuhui HE Xiaodong geng zhiyong The State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of EngineeringPeking University

This paper addresses the problem of specified finite time attitude stabilization for rigid body whose kinematic is modeled on Special Orthogonal group SO（3）,which can describe the attitude globally and uniquely,*** virtue of time-rescaling approach,the transformation systems are proposed and the specified finite time control law can be derived from the transformation *** by the backstepping approach,a finite time based specified finite time control law is proposed and removes the phenomenon of unbounded control torque if an inapposite time-rescaling function is ***,the Sim Mechanics simulations show that the theoretical results of specified finite time attitude stabilization have good performance.

关键词： Attitude stabilization Special Orthogonal group SO(3) Specified finite time Time-rescaling approach

Consensus Control for Vehicles with Nonholonomic Constraints on Special Euclidean Group SE（2）

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Consensus Control for Vehicles with Nonholonomic Constraints...

第30届中国控制与决策会议

作者： Xiaodong He zhiyong geng Xiuhui Peng State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of Engineering Peking University

This paper studies the consensus control for multiple nonholonomic vehicles, whose kinematics evolve on Special Euclidean group SE（2）. Since the purpose of researching consensus control is to design formation control strategies, a consensus-based formation controller is proposed in the text as well. At first, the paper gives the preliminaries and a general formulation of the problem. Then, a global and asymptotical consensus control law is introduced for two nonholonomic vehicles on SE（2）. From any initial configuration, the vehicles can be driven to the same position and orientation asymptotically under the presented controller. Next, with the aid of the geometric convex combination on SE（2）,the consensus control law for multi-vehicle systems is addressed, on the basis of the result of two vehicles ***, the paper presents the consensus-based formation controller for vehicles with parallel desired formations, where all the vehicles are parallel to each other in a straight line along the side of vehicles. For verification of the theoretical results, numerical simulations are given at the end.

关键词： Nonholonomic vehicles Formation control Geometric approach

A double-sliding surface based control method for underactuated cranes

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A double-sliding surface based control method for underactua...

第37届中国控制会议

作者： Li Xue geng zhiyong Peng Xiu Hui The State Key Laboratory for Turbulence and Complex Systems of Peking University Department of Mechanics and Engineering Science College of Engineering.Peking University

In this paper, a novel sliding mode control law is proposed for 2-dimensional（2D） underactuated overhead *** system uncertainties including external disturbances, system frictions and air resistances, this sliding controller is put forward without approximately decoupling or linearizing the complicated nonlinear model of 2D overhead cranes. The proposed controller can accurately position the cart as well as suppress the payload swing even in the presence of uncertainties of system parameters. The stability of the closed-loop system is proved by Lyapunov techniques and La Salle’s Invariance *** results also demonstrate the effectiveness of the proposed methodology.

关键词： Overhead crane uncertainties sliding mode control suppression of swing

Parallel Formation Tracking for Nonholonomic Vehicles in Some Constrained Conditions

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Parallel Formation Tracking for Nonholonomic Vehicles in Som...

第三十九届中国控制会议

作者： Mingxiang Wang Jinpeng Zhai zhiyong geng Xiuhui Peng State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of Engineering Peking University College of Automation Engineering Nanjing University of Aeronautics and Astronautics

In this paper a solution to the problem of the parallel formation tracking for the nonholonomic system is *** of all, we give the analysis of the parallel formation problem in the ideal condition and propose a controller for the *** we consider the non-ideal condition that the communication between two vehicles is not available, i.e., the position, the bearing angle and the velocity of the leader can not be obtained by the follower. With the relative parameters collected by the sensors installed on the follower, we derive a feedback control law using the Lyapunov-type analysis that keeps the follower in a parallel formation with the leader. Moreover, the bound can be reduced by increasing the value of the control gains, and the error of the angle can be proved to be non-zero during the whole procedure. Simulations are presented to verify the theoretical results.

关键词： non-holonomic system the parallel formation tracking the limited information

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多线性凸多面体对象族的鲁棒镇定

自动化学报 1998年第3期24卷 382-386页

作者：耿志勇王恩平中国科学院系统科学研究所

研究了由多个不确定对象串联所构成的多线性凸多面体对象族的鲁棒镇定问题，在对控制器的结构进行某些假设的条件下，给出了控制器鲁棒镇定对象族的充分必要条件是它同时镇定所有的顶点对象．

关键词：鲁棒镇定多线性凸多面体对象族控制理论