شماره ركورد كنفرانس :
3208
عنوان مقاله :
Leader-Follower Formation Control Using an Onboard Leader Tracker
پديدآورندگان :
Dehghani, Mohammad A Department of Electrical Engineering - Amirkabir University of Technology , Menhaj, Mohammad B Department of Electrical Engineering - Amirkabir University of Technology , Azimi, Meysam Department of Electrical Engineering - Mazandaran University of Science and Technology
كليدواژه :
onboard tracker , measurement noise , leader-follower , Formation control structure
عنوان كنفرانس :
چهارمين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
Leader-follower formation control of unmanned
vehicles in the presence of limited sensing and communication is
studied. It is assumed that the follower is equipped with an
onboard tracker to measure relative kinematic parameters with
respect to the leader. Considering practical measurements
obtained from the onboard tracker, a state-space representation
for the leader-follower system is obtained, and by employing a
state feedback controller, the relative angle and the relative range
are regulated to desired values. Then, by modeling of the tracker
mechanism, the effect of the tracker dynamics and sensor
measurement noise on the formation keeping are studied.
Simulation results verify the effectiveness of the proposed leaderfollower
formation control structure.
