Novel vehicle formation control based on input-output feedback linearization

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Journal of Dalian Maritime University ›› 2013, Vol. 39 ›› Issue (1) : 123-127.

Original Paper

Novel vehicle formation control based on input-output feedback linearization

YU Zhi-ying, GUO Ge, QIAN Fang

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Abstract

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.

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vehicle formation / leader-follower / feedback linearization

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YU Zhi-ying, GUO Ge, QIAN Fang. Novel vehicle formation control based on input-output feedback linearization[J]. Journal of Dalian Maritime University. 2013, 39(1): 123-127

References

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