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Coordinated formation control of multiple nonlinear systems
Wei Kang; Xi N(席宁); Tan JD(谈金东); Zhao YW(赵忆文); Wang YC(王越超)
Department机器人学研究室
Source PublicationJournal of Control Theory and Applications
ISSN1672-6340
2005
Volume3Issue:1Pages:1-19
Contribution Rank4
KeywordCoordination Formation Nonlinear Control
AbstractA general method of controller design is developed for the purpose of formation keeping and reconfiguration of nonlinear systems with multiple subsystems, such as the formation of multiple aircraft, ground vehicles, or robot arms. The model consists of multiple nonlinear systems. Controllers are designed to keep the subsystems in a required formation and to coordinate the subsystems in the presence of environmental changes. A step-by-step algorithm of controller design is developed. Sufficient conditions for die stability of formation tracking are proved. Simulations and experiments are conducted to demonstrate some useful coordination strategies such as movement with a leader, simultaneous movement, series connection of formations, and human-machine interaction.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7328
Collection机器人学研究室
Affiliation1.Deparmaent of Applied Mathematics, Naval Postgraduate School
2.DeparUnent of Electrical and Computer Engineering, Michigan State University
3.Deparmaent of Electrical and Computer Engineering,ichigan Technological University
4.Shenyang Institute of Automation, Chinese Academy of Science
5.School of Mathematics, Nankai University
Recommended Citation
GB/T 7714
Wei Kang,Xi N,Tan JD,et al. Coordinated formation control of multiple nonlinear systems[J]. Journal of Control Theory and Applications,2005,3(1):1-19.
APA Wei Kang,Xi N,Tan JD,Zhao YW,&Wang YC.(2005).Coordinated formation control of multiple nonlinear systems.Journal of Control Theory and Applications,3(1),1-19.
MLA Wei Kang,et al."Coordinated formation control of multiple nonlinear systems".Journal of Control Theory and Applications 3.1(2005):1-19.
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