非完整性多体编队运动的一种无源化控制方法

吴凡; 耿志勇

doi:10.3879/j.issn.1000-0887.2010.01.004

非完整性多体编队运动的一种无源化控制方法

doi: 10.3879/j.issn.1000-0887.2010.01.004

吴凡,
耿志勇

北京大学湍流与复杂系统国家重点实验室,力学与空天技术系,北京 100871

基金项目: 国家自然科学基金资助项目(10832006)

详细信息

作者简介:
吴凡(1982- ),男,江苏人,博士生(联系人.Tel:+86-10-62741029;E-mail:wufan@pku.edu.cn).

中图分类号: V412.4
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- 被引次数: 0
出版历程
- 收稿日期: 2009-04-14
- 修回日期: 2009-11-09
- 刊出日期: 2010-01-15

Formation Control for Nonholonomic Agents Using Passivity Techniques

State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, Peking University, Beijing 100871, P. R. China

摘要

摘要: 讨论了非完整性多体编队运动问题．首先利用动态反馈将单个体的动力学模型线性化为2个三阶输入输出积分链的形式；然后提出一种带有单个体间阻尼注入的非连续分布式控制律，并利用Liapunov方法证明了在该控制律作用下闭环系统的渐进稳定性；最后通过一个平面机器人的编队运动仿真验证了所提方法的有效性．
- 非完整性个体 /
- 编队 /
- 完全状态线性化 /
- 无源性
Abstract: The problem of formation control for multiple nonholonomic agents on a plane was studied. A dynamic feedback linearization method was used to transform each agent's dynamicalmodel in to two third-order in tegrator chains. Then a decentralized formation control law with inter-agent damping in jection was derived. A symptotical stability of the overall system was proved by Liapunov method. Simulation for a planar vehicles. formation maneuver shows the effectiveness of the proposed strategy.
- nonholonomic agents /
- formation /
- full-state linearization /
- passivity

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参考文献(14)

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