摘要
以编队中各车辆的运动学模型为基础,在跟随领航者体系下建立新的车辆编队系统动态模型.设计带有不定离轴点的输入输出反馈线性化跟踪控制器,将跟随车辆与领航车辆的跟踪问题转化为特定误差系统的控制问题.利用图论将所设计的跟踪控制器扩展到车辆编队控制中,并对车辆编队控制效果进行仿真验证.
A novel dynamic model for vehicle-formation control is established in the leader-follower framework based on kinematics of each vehicle.An input-output feedback linearization tracking controller with variable off-axis point is designed.The problem of leader-tracing for the follower is transformed into control of certain error systems.The tracking controllers obtained is expanded to vehicles formation control by using graph theory.Simulations are given to show the effectiveness of the designed formation controller.
出处
《大连海事大学学报》
CAS
CSCD
北大核心
2013年第1期123-127,共5页
Journal of Dalian Maritime University
关键词
车辆编队
领航跟随法
反馈线性化
vehicle formation
leader-follower
feedback linearization
