Formation control for nonholonomic agents using passivity techniques
- 95 Downloads
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 wordsnonholonomic agents formation full-state linearization passivity
Chinese Library ClassificationV421.4
2000 Mathematics Subject Classification37N30
Unable to display preview. Download preview PDF.