Title :
A control scheme for improving multi-vehicle formation maneuvers
Author :
Young, Brett J. ; Beard, Randal W. ; Kelsey, Jed M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Brigham Young Univ., Provo, UT, USA
Abstract :
In this paper we present a control scheme for improving multiple vehicles formation maneuvering. The advantage of this control scheme is that it makes it easy to prescribe formation maneuvers, has stability guarantees and adds a type of robustness to maneuvering formations through the use of group feedback. For moving multiple vehicles in formation the added advantages of this control scheme are explored through simulation and hardware results using wheeled mobile robots
Keywords :
mobile robots; robust control; stability; control scheme; group feedback; multi-vehicle formation maneuvers; robustness; simulation; stability guarantees; wheeled mobile robots; Control systems; Error correction; Feedback; Mobile robots; Orbital robotics; Robot kinematics; Robust stability; Robustness; Trajectory; Vehicle dynamics;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945797
