Consensus based formation control strategies for multi-vehicle systems

被引：0

作者：

Ren, Wei ^{[1
]}

机构：

[1] Utah State Univ, Dept Elect & Comp Engn, Logan, UT 84322 USA

来源：

2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we first introduce a fundamental consensus algorithm for systems modeled by second-order dynamics. We then apply variants of the consensus algorithm to tackle formation control problems by appropriately choosing information states on which consensus is reached. Even in the absence of centralized leadership, the consensus based formation control strategies can guarantee accurate formation maintenance in the general case that information flow is unidirectional. We also show that existing leader-follower, behavioral, and virtual structure/virtual leader formation control approaches can be unified in the general framework of consensus building. A multi-vehicle formation control example is shown in simulation to illustrate our strategies.

引用

页码：4237 / 4242

页数：6

共 21 条

[1] Behavior-based formation control for multirobot teams [J].

Balch, T ;

Arkin, RC .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (06) :926-939

[2] A coordination architecture for spacecraft formation control [J].

Beard, RW ;

Lawton, J ;

Hadaegh, FY .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2001, 9 (06) :777-790

[3] Control of mobile platforms using a virtual vehicle approach [J].

Egerstedt, M ;

Hu, X ;

Stotsky, A .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2001, 46 (11) :1777-1782

[4]

Eren T, 2002, IEEE DECIS CONTR P, P2959, DOI 10.1109/CDC.2002.1184306

[5]

Horn R. A., 1986, Matrix analysis

[6] Coordination of groups of mobile autonomous agents using nearest neighbor rules [J].

Jadbabaie, A ;

Lin, J ;

Morse, AS .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2003, 48 (06) :988-1001

[7]

KANG W, P C ROB AUT SAN FRAN, P1755

[8] A decentralized approach to formation maneuvers [J].

Lawton, JRT ;

Beard, RW ;

Young, BJ .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2003, 19 (06) :933-941

[9]

Leonard NE, 2001, IEEE DECIS CONTR P, P2968, DOI 10.1109/CDC.2001.980728

[10] High precision formation control of mobile robots using virtual structures [J].

Lewis, MA ;

Tan, KH .

AUTONOMOUS ROBOTS, 1997, 4 (04) :387-403

← 1 2 3 →