Edge dynamics based distributed formation controller design for unmanned vehicle groups

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a novel approach based on the edge dynamics to design a distributed formation controller for multi-agent systems with generic linear dynamics. Consequently, sufficient conditions are derived under which a desired formation pattern can be achieved. The obtained results are then utilized to design controllers for a group of unmanned front-wheel steering vehicles with nonlinear models such that they achieve an expected formation. Simulation results on a vehicle group shows the efficiency of the proposed approach.

Original languageEnglish
Title of host publication2019 IEEE Vehicle Power and Propulsion Conference, VPPC 2019 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728112497
DOIs
Publication statusPublished - Oct 2019
Event2019 IEEE Vehicle Power and Propulsion Conference, VPPC 2019 - Hanoi, Viet Nam
Duration: Oct 14 2019Oct 17 2019

Publication series

Name2019 IEEE Vehicle Power and Propulsion Conference, VPPC 2019 - Proceedings

Conference

Conference2019 IEEE Vehicle Power and Propulsion Conference, VPPC 2019
CountryViet Nam
CityHanoi
Period10/14/1910/17/19

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All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Modelling and Simulation
  • Artificial Intelligence
  • Transportation
  • Energy Engineering and Power Technology
  • Fuel Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering

Cite this

Nguyen, DI. H. (2019). Edge dynamics based distributed formation controller design for unmanned vehicle groups. In 2019 IEEE Vehicle Power and Propulsion Conference, VPPC 2019 - Proceedings [8952226] (2019 IEEE Vehicle Power and Propulsion Conference, VPPC 2019 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/VPPC46532.2019.8952226