http://scholars.ntou.edu.tw/handle/123456789/22863
Title: | Formation Control with Orientation Alignment and Constrained Input | Authors: | Yu-Wen Chen Ming-Li Chiang Li-Chen Fu |
Keywords: | Multi-agent systems;Nonlinear adaptive control;Coordination of multiple vehicle systems | Issue Date: | 2020 | Publisher: | Elsevier | Journal Volume: | 53 | Journal Issue: | 2 | Start page/Pages: | 3397-3402 | Source: | IFAC-PapersOnLine | Conference: | 21st IFAC World Congress: Berlin, Germany, 11–17 July 2020 | Abstract: | We design a formation controller for Multi Agent Systems such that the agents can form into the desired shape and track a given reference trajectory. The main feature of the proposed design is that not only the orientation of individual agents, but also the orientation of the whole formation is considered and is designed to be aligned with the moving direction of the reference trajectory, which helps the tracking movement to be smoother compared with the common tracking results. Moreover, the control inputs are designed in predefined input ranges to reflect the practical system. System stability is proved based on nonlinear system theory and some simulations are given to validate the proposed results. |
URI: | http://scholars.ntou.edu.tw/handle/123456789/22863 | ISSN: | 2405-8963 | DOI: | 10.1016/j.ifacol.2020.12.1505 |
Appears in Collections: | 電機工程學系 |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.