Vehicle following and formation control of nonholonomic vehicles using time-state control form
Vehicle following and formation control of nonholonomic vehicles using time-state control form
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DOI：
10.1109/sice.2016.7749222
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发表时间：
2016-09
期刊：
影响因子：
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通讯作者：
Daisuke Tsuzuki;K. Takaba
中科院分区：
文献类型：
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作者：
Daisuke Tsuzuki;K. Takaba
本文研究了车辆跟随控制问题，即控制一辆非完整车辆跟踪另一辆移动车辆。通过修改基于时间状态控制形式的渐近镇定方法，实现了车辆的跟随控制。然后，我们将上述跟随控制方法扩展到leader-follower群体控制。最后通过数值仿真验证了该方法在编队控制问题中的有效性。
This paper is concerned with the vehicle following control, where a nonholonomic vehicle is controlled to track another moving vehicle. The vehicle following control is achieved by modifying the asymptotic stabilization method based on the time-state control form. We then extend the above following control method to the leader-follower formation control. A numerical simulation is included to demonstrate the effective of the proposed method in the formation control problem.