Coordinated formation control of multiple nonlinear systems
WEI Kang
Ning Xi
Jindong TAN
Yiwen ZHAO
Yuechao WANG
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 formations,and human-machine interaction.
机标关键词：
分类号：O23(控制论、信息论（数学理论）)
资助基金：美国全国卫生基金会标准及世界电气工业协会合作项目(9911077)
论文发表日期：2005-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：19( 1-19 )
英文信息