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Decentralized Formation Tracking of Multi-vehicle Systems with Nonlinear Dynamics

Summary: Decentralized Formation Tracking of Multi-vehicle
Systems with Nonlinear Dynamics
Lei Fang and Panos J. Antsaklis
Abstract- The problem of formation tracking can be stated
as multiple vehicles are required to follow spatial trajectories
while keeping a desired inter-vehicle formation pattern in J
time. This paper considers vehicles with nonlinear dynamics d trajectory
and nonholonomic constraints and very general trajectories time
that can be generated by some reference vehicles. We specify
formations using the vectors of relative positions of neighboring
vehicles and use consensus-based controllers in the context leader
of decentralized formation tracking control. The key idea
is to combine consensus-based controllers with the cascaded
approach to tracking control, resulting in a group of linearly
coupled dynamical systems. We examine the stability properties Fig. 1. Six vehicles perform a formation tracking task.
of the closed loop system using cascaded systems theory
and nonlinear synchronization theory. Simulation results are
presented to illustrate the proposed method.
In many scenarios, vehicles have limited communication
I. INTRODUCTION ability. Since global information is often not available to each


Source: Antsaklis, Panos - Department of Electrical Engineering, University of Notre Dame


Collections: Engineering