Virtual leader based robust adaptive formation control of multi-unmanned ground vehicles (UGVs)

Z. SUN; Bin LI; W. C. CAI; X. H. LIAO; Y. D. SONG

doi:10.1109/ACC.2007.4283097

Virtual leader based robust adaptive formation control of multi-unmanned ground vehicles (UGVs)

Z. SUN^*
, Bin LI
, W. C. CAI
, X. H. LIAO
, Y. D. SONG

^*Corresponding author for this work

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

13 Citations (Scopus)

Abstract

By using "virtual leader" concept, together with the structural properties of the vehicles, this paper presents a highly robust and adaptive formation control algorithm free of singularity. It is shown that the algorithm is able to generate the control current directly for the driving motor of the vehicle, steering the follower toward the formation position precisely. The overall control scheme developed has simple structure and does not demand detail vehicle system dynamic information. As confirmed by both theoretical analysis and computer simulation, the developed control scheme is effective in maintaining close formation of multiple UGVs. © 2007 IEEE.

Original language	English
Title of host publication	Proceedings of the 2007 American Control Conference, ACC
Publisher	IEEE
Pages	1876-1881
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2007.4283097
Publication status	Published - 1 Dec 2007
Externally published	Yes
Event	2007 American Control Conference - , United States Duration: 9 Jul 2007 → 13 Jul 2007

Conference

Conference	2007 American Control Conference
Country/Territory	United States
Period	9/07/07 → 13/07/07

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10.1109/ACC.2007.4283097

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title = "Virtual leader based robust adaptive formation control of multi-unmanned ground vehicles (UGVs)",

abstract = "By using {"}virtual leader{"} concept, together with the structural properties of the vehicles, this paper presents a highly robust and adaptive formation control algorithm free of singularity. It is shown that the algorithm is able to generate the control current directly for the driving motor of the vehicle, steering the follower toward the formation position precisely. The overall control scheme developed has simple structure and does not demand detail vehicle system dynamic information. As confirmed by both theoretical analysis and computer simulation, the developed control scheme is effective in maintaining close formation of multiple UGVs. {\textcopyright} 2007 IEEE.",

author = "Z. SUN and Bin LI and CAI, \{W. C.\} and LIAO, \{X. H.\} and SONG, \{Y. D.\}",

year = "2007",

month = dec,

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doi = "10.1109/ACC.2007.4283097",

language = "English",

pages = "1876--1881",

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AU - SUN, Z.

AU - LI, Bin

AU - CAI, W. C.

AU - LIAO, X. H.

AU - SONG, Y. D.

PY - 2007/12/1

Y1 - 2007/12/1

N2 - By using "virtual leader" concept, together with the structural properties of the vehicles, this paper presents a highly robust and adaptive formation control algorithm free of singularity. It is shown that the algorithm is able to generate the control current directly for the driving motor of the vehicle, steering the follower toward the formation position precisely. The overall control scheme developed has simple structure and does not demand detail vehicle system dynamic information. As confirmed by both theoretical analysis and computer simulation, the developed control scheme is effective in maintaining close formation of multiple UGVs. © 2007 IEEE.

AB - By using "virtual leader" concept, together with the structural properties of the vehicles, this paper presents a highly robust and adaptive formation control algorithm free of singularity. It is shown that the algorithm is able to generate the control current directly for the driving motor of the vehicle, steering the follower toward the formation position precisely. The overall control scheme developed has simple structure and does not demand detail vehicle system dynamic information. As confirmed by both theoretical analysis and computer simulation, the developed control scheme is effective in maintaining close formation of multiple UGVs. © 2007 IEEE.

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DO - 10.1109/ACC.2007.4283097

M3 - Conference paper (refereed)

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BT - Proceedings of the 2007 American Control Conference, ACC

PB - IEEE

T2 - 2007 American Control Conference

Y2 - 9 July 2007 through 13 July 2007

ER -

Virtual leader based robust adaptive formation control of multi-unmanned ground vehicles (UGVs)

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