Finite Time Optimal Formation Control for Multiple Vehicles

被引：0
|
作者：
Zhiyong Geng [1 ]
机构：
[1] Peking Univ, Dept Mech & Engn Sci, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
来源：
26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC) | 2014年
关键词：
Formation Control; Consensus; Multiple Vehicles; Motion Planning; SYSTEMS; LAWS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper studies the problem of finite time formation control for multiple vehicles. The vehicle is modeled as the full actuated rigid body, both the formation time and the geometric structure of the formation are specified by the task. An open optimal control law is derived by using Pontryagins minimum principle, and is converted to the closed form by feeding the current state back under the assumption that the mode of communication between the vehicles is all-to-all. For the demonstration of the result, a numerical example of formation for planar vehicles is included.
引用
收藏
页码：3657 / 3662
页数：6
相关论文
共 50 条
  • [41] Robust Formation Control for Multiple Underwater Vehicles
    Bechlioulis, Charalampos P.
    Giagkas, Fotis
    Karras, George C.
    Kyriakopoulos, Kostas J.
    FRONTIERS IN ROBOTICS AND AI, 2019, 6
  • [42] Distributed Optimal Formation Control of Multiple Unmanned Surface Vehicles with Stackelberg Differential Graphical Game
    Yu K.
    Li Y.
    Lv M.
    Tong S.
    IEEE Transactions on Artificial Intelligence, 2024, 5 (08): : 1 - 14
  • [43] Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer
    Zhang, Wenqiang
    Dong, Chaoyang
    Ran, Maopeng
    Liu, Yang
    CHINESE JOURNAL OF AERONAUTICS, 2020, 33 (11) : 2907 - 2920
  • [44] Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer
    Wenqiang ZHANG
    Chaoyang DONG
    Maopeng RAN
    Yang LIU
    Chinese Journal of Aeronautics, 2020, 33 (11) : 2907 - 2920
  • [45] Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer
    Wenqiang ZHANG
    Chaoyang DONG
    Maopeng RAN
    Yang LIU
    Chinese Journal of Aeronautics , 2020, (11) : 2907 - 2920
  • [46] An optimal control for multiple unmanned underwater crawling vehicles
    Lee, KH
    OCEANS 2003 MTS/IEEE: CELEBRATING THE PAST...TEAMING TOWARD THE FUTURE, 2003, : 2649 - 2649
  • [47] Optimal control for multiple unmanned underwater crawling vehicles
    Lee, KH
    PROCEEDINGS OF THE FOURTEENTH (2004) INTERNATIONAL OFFSHORE AND POLAR ENGINEERING CONFERENCE, VOL 2, 2004, : 310 - 317
  • [48] Optimal Formation Control of Unmanned Aerial Vehicles with Reconfiguration
    Rajasree, R.
    Jisha, V. R.
    2015 INTERNATIONAL CONFERENCE ON CONTROL COMMUNICATION & COMPUTING INDIA (ICCC), 2015, : 36 - 41
  • [49] Formation Control of Multiple Underactuated Surface Vehicles Based on Prescribed-Time Method
    Zhang, Pengfei
    Yang, Tingting
    Li, Dong
    IEEE ACCESS, 2020, 8 : 151371 - 151382
  • [50] Distributed Finite-Time Formation Control for Multiple Nonholonomic Mobile Robots
    Li, Miao
    Liu, Zhongxin
    Chen, Zengqiang
    PROCEEDINGS OF 2016 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL II, 2016, 405 : 399 - 415
12345