Abstract
Chapter 8 focuses on the formation control of unmanned ground and marine vehicles moving in horizontal plane. For stabilization of ground vehicles in formation, the potential field method is applied. The controller consists of three levels, the low level linearizing controller, the high level formation controller and the medium level stabilizing controller. The chosen potential function is structured such that each vehicle asymptotically approaches its prescribed position in the formation while a minimal distance to other vehicles is guaranteed. Simulation results illustrate the theory for UGVs. For stabilization of marine vehicles in formation, the passivity theory is applied. The control structure can be divided into synchronization level and the level of control subsystems stabilizing the different vehicles. The communication topology between the members of the formation is described by a graph. Only vehicles connected in the graph exchange their synchronization parameters. The stability of the formation is proven based on passivity theory and the Nested Matrosov Theorem. Simulation results illustrate the theory for UMVs.
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© 2011 Springer-Verlag London Limited
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Lantos, B., Márton, L. (2011). Formation Control of Vehicles. In: Nonlinear Control of Vehicles and Robots. Advances in Industrial Control. Springer, London. https://doi.org/10.1007/978-1-84996-122-6_8
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DOI: https://doi.org/10.1007/978-1-84996-122-6_8
Publisher Name: Springer, London
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