Coordinated formation control of multiple nonlinear systems

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Coordinated formation control of multiple nonlinear systems
	Wei Kang; Xi N(席宁); Tan JD(谈金东); Zhao YW(赵忆文); Wang YC(王越超)
刊名	Journal of Control Theory and Applications
	2005
卷号	3 期号:1 页码:1-19
关键词	Coordination Formation Nonlinear control
ISSN号	1672-6340
产权排序	4
中文摘要	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 die 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.
语种	英语
公开日期	2012-05-29
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/7328]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Wei Kang,Xi N,Tan JD,et al. Coordinated formation control of multiple nonlinear systems[J]. Journal of Control Theory and Applications,2005,3(1):1-19.
APA	Wei Kang,Xi N,Tan JD,Zhao YW,&Wang YC.(2005).Coordinated formation control of multiple nonlinear systems.Journal of Control Theory and Applications,3(1),1-19.
MLA	Wei Kang,et al."Coordinated formation control of multiple nonlinear systems".Journal of Control Theory and Applications 3.1(2005):1-19.