Title

Decentralized Cooperative Control For Multivehicle Formation Without Velocity Measurement

Abstract

This paper addresses formation control problems using nonlinear cooperative control theory. In particular, incorporating with the inherent passivity of the tracking error dynamics associated with a general vehicle model, the decentralized formation control algorithms are developed for both leaderless and leader-follower formation scenarios. The proposed control algorithm can ensure the desired formation behavior with an intermittently available, time-varying, and uniformly sequentially complete topology. Furthermore, to facilitate the practical implementation, an auxiliary filter is introduced to develop a control input eliminating the velocity measurement, and accounting for the actuator saturation as well. The simulation results demonstrate the effectiveness of the proposed control scheme. ©2009 IEEE.

Publication Date

12-1-2009

Publication Title

Proceedings of the IEEE Conference on Decision and Control

Number of Pages

3442-3447

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/CDC.2009.5399505

Socpus ID

77950803846 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/77950803846

This document is currently not available here.

Share

COinS