Coordinated formation control of multiple nonlinear systems |
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| Authors: | Wei KANG Ning XI Jindong TAN Yiwen ZHAO Yuechao WANG |
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| Affiliation: | Department of Applied Mathematics ,Naval Postgraduate School ,Monterey , CA 93943; Department of Electrical and Computer Engineering ,Michigan State University , East Lansing ,MI 48824; Department of Electrical and Computer Engineering ,Michigan Technological University , Houghton ,MI 49931;Shenyang Institute of Automation , Chinese Academy of Science ,Shenyang Liaoning 110016 , China ;School of Mathematics ,Nankai University , Tianjin 300071 , China |
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| 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. |
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| Keywords: | Coordination Formation Nonlinear control |
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