DocumentCode
696138
Title
Control of a group of point mass vehicles using energy methods
Author
Chavez Grunewald, Martin G. ; Abel, Dirk
Author_Institution
Inst. of Autom. Control, RWTH Aachen Univ., Aachen, Germany
fYear
2009
fDate
23-26 Aug. 2009
Firstpage
2331
Lastpage
2336
Abstract
This paper deals with the energy based control of a group of interconnected vehicles modeled as point masses. The control design is carried out by first shaping the kinetic energy and afterwards adding virtual potential energy and dissipative terms in order to achieve the desired stability performance. We assume that the vehicles move on a 2D surface and apply the results to simple examples with two and three units.
Keywords
interconnected systems; stability; vehicles; 2D surface; dissipative terms; energy based control; interconnected vehicles; kinetic energy; stability performance; virtual potential energy; Aerospace electronics; Kinetic energy; Measurement; Potential energy; Tensile stress; Vectors; Vehicles; energy shaping; nonlinear control; virtual potential energy;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2009 European
Conference_Location
Budapest
Print_ISBN
978-3-9524173-9-3
Type
conf
Filename
7074753
Link To Document