Title

Strategies For And Analytical Solutions To Near-Optimal Formation Control Of Nonholonomic Mobile Vehicles

Abstract

The formation control of a group of mobile vehicles has been an active research topic. In this paper, new near-optimal formation controls are proposed for the tracking control of multi mobile vehicles while maintaining a required formation. The coordination in the presence of environment change is possible due to the utilization of the proposed formation control strategies. Design of the proposed controls starts with the chained form systems and explicitly takes the nonholonomic constraints into account. The proposed controls are near optimal in the sense that the distance to optimal control is minimized as much as possible in closed form. The controls are real-time implementable, globally and exponentially stabilizing. Copyright © 2004 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

Publication Date

1-1-2004

Publication Title

Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference

Volume

5

Number of Pages

3468-3483

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.2514/6.2004-5425

Socpus ID

19944414661 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/19944414661

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