Formation tracking control of nonholonomic chained form systems

Formation tracking control problem for multiple nonholonomic chained form systems are considered in this paper. In the framework of virtual structure, the formation keeping problem between chained-form agents are treated as tracking problem between the virtual agent and the actual agent. Theories from nonautonomous cascaded systems are introduced to simplify the design of formation controllers after carefully studying the structure of the error dynamic systems and global exponential controllers are constructed for the the above cooperative control problems in the end. Simulation results using Matlab show the feasibility of solving the formation tracking problems using methodology presented in this paper.

[1]  Adriaan Arie Johannes Lefeber,et al.  Tracking Control of Nonlinear Mechanical Systems , 2000 .

[2]  Ke-Cai Cao.  Formation control of multiple nonholonomic mobile robots based on cascade design , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[3]  Randal W. Beard,et al.  Distributed Consensus in Multi-vehicle Cooperative Control - Theory and Applications , 2007, Communications and Control Engineering.

[4]  Marcel Staroswiecki,et al.  Fault tolerant cooperative control for a class of nonlinear multi-agent systems , 2011, Syst. Control. Lett..

[5]  Kim D. Listmann,et al.  Output synchronization of systems in chained form , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[6]  M. Areak,et al.  Passivity as a design tool for group coordination , 2006, 2006 American Control Conference.

[7]  R. W. Brockett,et al.  Asymptotic stability and feedback stabilization , 1982 .

[8]  Richard M. Murray,et al.  Recent Research in Cooperative Control of Multivehicle Systems , 2007 .

[9]  K. D. Do,et al.  Nonlinear formation control of unicycle-type mobile robots , 2007, Robotics Auton. Syst..

[10]  Antonio Loría,et al.  Growth rate conditions for uniform asymptotic stability of cascaded time-varying systems , 2001, Autom..

[11]  Yu-Ping Tian,et al.  Time‐varying linear controllers for exponential tracking of non‐holonomic systems in chained form , 2007 .

[12]  Dongbing Gu,et al.  A model predictive controller for robots to follow a virtual leader , 2009, Robotica.

[13]  Dongbing Gu,et al.  Cooperative Target Tracking Control of Multiple Robots , 2012, IEEE Transactions on Industrial Electronics.

[14]  Npi Nnaedozie Aneke.  Control of underactuated mechanical systems , 2003 .

[15]  Manfredi Maggiore,et al.  Necessary and sufficient graphical conditions for formation control of unicycles , 2005, IEEE Transactions on Automatic Control.

[16]  S. Sastry,et al.  Nonholonomic motion planning: steering using sinusoids , 1993, IEEE Trans. Autom. Control..

[17]  Jie Lin,et al.  Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[18]  Kevin L. Moore,et al.  High-Order and Model Reference Consensus Algorithms in Cooperative Control of MultiVehicle Systems , 2007 .

[19]  John T. Wen,et al.  Cooperative Control Design - A Systematic, Passivity-Based Approach , 2011, Communications and control engineering.

[20]  Wei Ren.  On Consensus Algorithms for Double-Integrator Dynamics , 2008, IEEE Trans. Autom. Control..

[21]  F.Y. Hadaegh,et al.  A survey of spacecraft formation flying guidance and control. Part II: control , 2004, Proceedings of the 2004 American Control Conference.

[22]  Bin Jiang,et al.  Switching fault tolerant control design via global dissipativity , 2010, Int. J. Syst. Sci..

[23]  S. Ploen,et al.  A survey of spacecraft formation flying guidance and control (part 1): guidance , 2003, Proceedings of the 2003 American Control Conference, 2003..

[24]  Tamio Arai,et al.  A distributed control scheme for multiple robotic vehicles to make group formations , 2001, Robotics Auton. Syst..

[25]  Zhihua Qu,et al.  Cooperative Control of Dynamical Systems With Application to Autonomous Vehicles , 2008, IEEE Transactions on Automatic Control.

[26]  Guisheng Zhai,et al.  A new consensus algorithm for multi-agent systems via dynamic output feedback control , 2009, 2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC).

[27]  Guisheng Zhai,et al.  A New Consensus Algorithm for Multi-Agent Systems via Decentralized Dynamic Output Feedback , 2011, J. Intell. Robotic Syst..

[28]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[29]  E. Panteley,et al.  On global uniform asymptotic stability of nonlinear time-varying systems in cascade , 1998 .

[30]  Thor I. Fossen,et al.  Passivity-Based Designs for Synchronized Path Following , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[31]  Andrea Garulli,et al.  Collective circular motion of multi-vehicle systems , 2008, Autom..

[32]  Jay A. Farrell,et al.  Cooperative Control of Multiple Nonholonomic Mobile Agents , 2008, IEEE Transactions on Automatic Control.

[33]  Bin Jiang,et al.  Results and perspectives on fault tolerant control for a class of hybrid systems , 2011, Int. J. Control.

[34]  Yu-Ping Tian,et al.  A Time-varying Cascaded Design for Trajectory Tracking Control of Nonholonomic Systems , 2006, CCC 2006.