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Formation control for nonholonomic agents using passivity techniques

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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.

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Authors and Affiliations

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

    Fan Wu  (吴凡) & Zhi-yong Geng  (耿志勇)

Authors
  1. Fan Wu  (吴凡)
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  2. Zhi-yong Geng  (耿志勇)
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Corresponding author

Correspondence to Fan Wu  (吴凡).

Additional information

Communicated by Li-qun CHEN

Project supported by the National Natural Science Foundation of China (No. 10832006)

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Wu, F., Geng, Zy. Formation control for nonholonomic agents using passivity techniques. Appl. Math. Mech.-Engl. Ed. 31, 27–36 (2010). https://doi.org/10.1007/s10483-010-0104-x

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  • DOI: https://doi.org/10.1007/s10483-010-0104-x

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Chinese Library Classification

2000 Mathematics Subject Classification

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