Preliminary results of one-dimensional vehicle formation control using a structural analogy Conference Paper uri icon

abstract

  • Results are presented from a preliminary study to determine the potential benefits of utilizing a structural analogy for formation control of a system of vehicles. Vehicles are modeled as unconstrained mass particles under the influence of control forces in an inertial reference frame. For a system of n particles restricted to motion in one dimension only, equations of motion are developed, and a corresponding dynamic inversion control law is proposed. A dissipative mechanical structure analogy is used to establish a family of feedback controllers. The conditions for global asymptotic stability are presented, and information requirements are discussed. It is shown that a stable system can be generated with each particle obtaining measurements for the mass center location of the system, and the position of the particles immediately next to it. A simulation of the response of a system to initial errors and desired trajectories is presented.

name of conference

  • Proceedings of the 2003 American Control Conference, 2003.

published proceedings

  • PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6

author list (cited authors)

  • Caicedo, R. E., Valasek, J., & Junkins, J. L.

citation count

  • 5

complete list of authors

  • Caicedo, RE||Valasek, J||Junkins, JL

publication date

  • January 2003