Title :
Theory and applications of formation control in a perceptive referenced frame
Author :
Kang, W. ; Xi, N. ; Sparks, Andy
Author_Institution :
Dept. of Math., Naval Postgraduate Sch., Monterey, CA, USA
Abstract :
A general method of controller design is developed in this paper for the purpose of formation keeping and reconfiguration of multiple autonomous vehicles. Controllers are designed to keep multiple vehicles in a required formation, and to coordinate the vehicles in the presence of environmental changes. The method is applicable to a large variety of autonomous agents. Examples and simulations are given for ground vehicles, robotic arms and satellites
Keywords :
artificial satellites; control system synthesis; manipulator dynamics; multi-agent systems; stability; vehicles; artificial satellites; autonomous agents; coordinated control; dynamics; formation control; ground vehicles; multiple autonomous vehicles; robotic arms; stability; Algorithm design and analysis; Centralized control; Design methodology; Feedback; Land vehicles; Manipulators; Mobile robots; Remotely operated vehicles; Robot kinematics; Satellites;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912785
