Coordinated formation control of multiple nonlinear systems

A general method of controller design is developed for the purpose of formation keeping and reconfiguration of nonlinear systems with multiple subsystems, such as the formation of multiple aircraft, ground vehicles, or robot arms. The model consists of multiple nonlinear systems. Controllers are designed to keep the subsystems in a required formation and to coordinate the subsystems in the presence of environmental changes. A step-by-step algorithm of controller design is developed. Sufficient conditions for die stability of formation tracking are proved. Simulations and experiments are conducted to demonstrate some useful coordination strategies such as movement with a leader, simultaneous movement, series connection of formations, and human-machine interaction.

[1]  R. M. DeSantis,et al.  Path-tracking for a Tractor-Trailer-like Robot , 1994, Int. J. Robotics Res..

[2]  Siva S. Banda,et al.  Coordinated Control of Multisatellite Systems , 2001 .

[3]  Tzyh Jong Tarn,et al.  Integrated task scheduling and action planning/control for robotic systems based on a max-plus algebra model , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[4]  Tzyh Jong Tarn,et al.  Event-based planning and control for multi-robot coordination , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[5]  N. Xi,et al.  Force and transition control with environmental uncertainties , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[6]  Carlos Silvestre,et al.  Trajectory Tracking for Autonomous Vehicles: An Integrated Approach to Guidance and Control , 1998 .

[7]  Mitsuji Sampei,et al.  Path tracking control of trailer-like mobile robot , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[8]  Jindong Tan,et al.  Non-time based tracking controller for mobile robots , 1999, Engineering Solutions for the Next Millennium. 1999 IEEE Canadian Conference on Electrical and Computer Engineering (Cat. No.99TH8411).

[9]  Andy Sparks,et al.  Theory and applications of formation control in a perceptive referenced frame , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).