Equilibria and steering laws for planar formations

被引：279

作者：

Justh, EW ^{[1
]}

Krishnaprasad, PS

机构：

[1] Univ Maryland, Syst Res Inst, College Pk, MD 20742 USA

[2] Univ Maryland, Dept Elect & Comp Engn, College Pk, MD 20742 USA

来源：

SYSTEMS & CONTROL LETTERS | 2004年 / 52卷 / 01期

关键词：

moving frames; formations; relative equilibria; stability;

D O I：

10.1016/j.sysconle.2003.10.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a Lie group setting for the problem of control of formations, as a natural outcome of the analysis of a planar two-vehicle formation control law. The vehicle trajectories are described using the planar Frenet-Serret equations of motion, which capture the evolution of both the vehicle position and orientation for unit-speed motion subject to curvature (steering) control. The set of all possible (relative) equilibria for arbitrary G-invariant curvature controls is described (where G = SE(2) is a symmetry group for the control law), and a global convergence result for the two-vehicle control law is proved. An n-vehicle generalization of the two-vehicle control law is also presented, and the corresponding (relative) equilibria for the n-vehicle problem are characterized. Work is on-going to discover stability and convergence results for the n-vehicle problem. (C) 2003 Elsevier B.V. All rights reserved.

引用

页码：25 / 38

页数：14

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