DocumentCode
435193
Title
Double-graph control strategy of multi-vehicle formations
Author
Jin, Zhipu ; Murray, Richard M.
Author_Institution
Dept. of Electr. Eng., California Inst. of Technol., Pasadena, CA, USA
Volume
2
fYear
2004
fDate
14-17 Dec. 2004
Firstpage
1988
Abstract
In this paper, we investigate a distributed control strategy for multi-vehicle formations based on double-graph model. By using this strategy, each vehicle in the leader-follower system adjusts its behavior according to the leader vehicle as well as its neighbors. For arbitrary formation topology, we successfully formulate the stability and performance of the whole formation. The simulation and experimental results verify the stability and efficiency of this control strategy.
Keywords
distributed control; graph theory; multivariable control systems; position control; stability; vehicles; control stability; distributed control; double-graph control; multivehicle formations; Automated highways; Control systems; Control theory; Distributed control; Flow graphs; Graph theory; Power system interconnection; Stability; Topology; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2004. CDC. 43rd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-8682-5
Type
conf
DOI
10.1109/CDC.2004.1430340
Filename
1430340
Link To Document