Tensegrity-based formation control of unmanned vehicles
Tensegrity-based formation control of unmanned vehicles
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DOI：
10.1109/control.2012.6334592
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发表时间：
2012-10
期刊：
影响因子：
--
通讯作者：
S. Lau;W. Naeem
中科院分区：
文献类型：
--
作者：
S. Lau;W. Naeem
提出了一种新的编队控制方法，该方法由采用张拉整体结构的虚拟肌腱驱动系统建模。这项工作的目标是在通信带宽内规范无人驾驶飞行器的编队，并执行点对点机动任务。车辆在编队中所经历的反力控制力由张拉整体中的容许筋力决定。通过综合利用弦线和弹簧的特性，设计了一种控制律，在存在扰动的情况下稳定车辆之间的间距。仿真结果表明，该方法在保持队形和避免车间碰撞方面是有效的。队形的改变也是通过改变车辆之间的相对参数来实现的。
A new formation control methodology modelled by a virtual tendon-driven system using the tensegrity structures is presented. The objective of the work is to regulate the formation of unmanned vehicles within the communications bandwidth and perform point-to-point manoeuvring tasks. The reaction control forces that are experienced by vehicles in the formation are determined by the admissible tendon forces in tensegrity. A control law is designed to stabilize the interspacing between the vehicles in the presence of disturbances by making the combined use of string and spring characteristics. Simulation results demonstrate the effectiveness of the proposed approach in terms of maintaining the formation and avoiding inter-vehicle collisions. Formation shape changing is also performed by varying the relative parameters between the vehicles.