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| Coordinated formation control of multiple nonlinear systems | |
| 作者姓名： | Wei KANG Ning XI Jindong TAN Yiwen ZHAO Yuechao WANG |
| 作者单位： | [1]DepartmentofAppliedMathematics,NavalPostgraduateSchool,Monterey,CA93943／／SchoolofMathematics,NankaiUniversity,Tianjin300071,China [2]DepartmentofElectricalandComputerEngineering,MichiganStateUniversity,EastLaming,MI48824／／ShenyangInstituteofAutomation,ChineseAcademyof,Science,ShenyangLiaoning110016,China [3]DepartmentofElectricalandComputerEngineering,MichiganTechnologicalUniversity,Houghton,MI49931 [4]ShenyangInstituteofAutomation,ChineseAcademyof,Science,ShenyangLiaoning110016,China |
| 基金项目： | ThisworkwassupportedinpartbyNSFEIA(No.9911077),INI(No.0314120),andHNI(No.0334035). |
| 摘 要： | A 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 the 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 formatiom, and human-machine interaction. |
| 关 键 词： | 配位 非线性控制 步进式算法 稳定性 |
| 收稿时间： | 28 September 2004 |
| 修稿时间： | 2005/2/24 0:00:00 |
Coordinated formation control of multiple nonlinear systems |
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| Wei KANG,Ning XI,Jindong TAN,Yiwen ZHAO,Yuechao WANG.Coordinated formation control of multiple nonlinear systems[J].Journal of Control Theory and Applications,2005,3(1):1-19. | |
| Authors: | Wei KANG Ning XI Jindong TAN Yiwen ZHAO Yuechao WANG |
| Affiliation: | 1. Department of Applied Mathematics,Naval Postgraduate School,Monterey,CA 93943;School of Mathematics,Nankai University,Tianjin 300071,China 2. Department of Electrical and Computer Engineering,Michigan State University,East Lansing,MI 48824;Shenyang Institute of Automation,Chinese Academy of Science,Shenyang Liaoning 110016,China 3. Department of Electrical and Computer Engineering,Michigan Technological University,Houghton,MI 49931 4. Shenyang Institute of Automation,Chinese Academy of Science,Shenyang Liaoning 110016,China |
| Abstract: | A 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 the 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. |
| Keywords: | Coordination Formation Nonlinear control |
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