Finite Time Optimal Formation Control for Multiple Vehicles

被引：0
|
作者：
Zhiyong Geng [1 ]
机构：
[1] Peking Univ, Dept Mech & Engn Sci, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
来源：
26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC) | 2014年
关键词：
Formation Control; Consensus; Multiple Vehicles; Motion Planning; SYSTEMS; LAWS;
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：
The paper studies the problem of finite time formation control for multiple vehicles. The vehicle is modeled as the full actuated rigid body, both the formation time and the geometric structure of the formation are specified by the task. An open optimal control law is derived by using Pontryagins minimum principle, and is converted to the closed form by feeding the current state back under the assumption that the mode of communication between the vehicles is all-to-all. For the demonstration of the result, a numerical example of formation for planar vehicles is included.
引用
收藏
页码：3657 / 3662
页数：6
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