Formation control for nonholonomic agents using passivity techniques |
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Authors: | Fan Wu Zhi-yong Geng |
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Institution: | State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, Peking University, Beijing 100871, P. R. China |
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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 propo... |
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Keywords: | nonholonomic agents formation full-state linearization passivity |
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