Virtual leader based robust adaptive formation control of multi-unmanned ground vehicles (UGVs)
Document Type
Conference Proceeding
Publication Date
12-1-2007
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.
Publication Source (Journal or Book title)
Proceedings of the American Control Conference
First Page
1876
Last Page
1881
Recommended Citation
Sun, Z., Li, B., Cai, W., Liao, X., & Song, Y. (2007). Virtual leader based robust adaptive formation control of multi-unmanned ground vehicles (UGVs). Proceedings of the American Control Conference, 1876-1881. https://doi.org/10.1109/ACC.2007.4283097