Finite time formation control for multiple vehicles based on Pontryagin's minimum principle

被引：0
|
作者：
Geng Z.-Y. [1 ]
机构：
[1] The State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, Peking University, Beijing
来源：
Geng, Zhi-Yong (zygeng@pku.edu.cn) | 1600年 / Science Press卷 / 43期
基金：
中国国家自然科学基金;
关键词：
Consensus; Finite time formation control; Minimum principle; Multiple vehicles;
D O I：
10.16383/j.aas.2017.c150537
中图分类号：
学科分类号：
摘要：
The paper studies the problem of finite time formation control for multiple vehicles based on Pontryagin's minimum principle. The vehicle is modeled as a fully actuated rigid body with the dynamics evolving on the tangent bundle of Euclidean group. Both the formation maneuver time and the geometric structure of the formation are specified by the formation task. For the required formation, an open loop optimal control law is derived by using Pontryagin's minimum principle. In order to overcome the sensitivity of the open-loop control to the disturbance and increase the robustness of the control law to the initial perturbation, the open loop control law is converted to the closed loop form. This is done by feeding the current state back and initializing the control law at the current time, under the assumption that the mode of communication between the vehicles is all-to-all. For demonstration of the result, some numerical examples of formations for both planar and spacial vehicles are included. Copyright © 2017 Acta Automatica Sinica. All rights reserved.
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页码：40 / 59
页数：19
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