Distributed Pi formation control design for autonomous vehicles using edge dynamics

    研究成果: Contribution to journalConference article査読

    抄録

    A novel fully distributed proportional-integral (PI) formation controller design approach is proposed in this paper for general linear multi-agent systems (MASs) with model uncertainties and disturbances. First, an edge dynamics is developed for uncertain and perturbed linear MASs, based on which the formation control problem for the initial MAS is shown to be equivalent to a decentralized stabilizing problem for the obtained edge dynamics. Afterward, a necessary and sufficient condition for the PI controller gains is derived. A corollary of this condition shows that for integrator agents, PI controller gains can be any positive scalars. This result is then applied to the formation control of autonomous four-wheel vehicles described by nonlinear models, of which the efficiency of the proposed method is demonstrated in presence of both uncertainties and disturbances.

    本文言語英語
    ページ(範囲)3162-3167
    ページ数6
    ジャーナルIFAC-PapersOnLine
    53
    2
    DOI
    出版ステータス出版済み - 2020
    イベント21st IFAC World Congress 2020 - Berlin, ドイツ
    継続期間: 7 12 20207 17 2020

    All Science Journal Classification (ASJC) codes

    • 制御およびシステム工学

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