Title :
Formation control based on second-order feedback linearization
Author :
Lin, Yihui ; Chen, Mou ; Mei, Rong
Author_Institution :
Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China
Abstract :
Formation control using feedback linearization is developed in this paper. The purpose of the work is that the relative trajectory between follower and leader is linearized in velocity coordinate system in order to accurately control its dynamic process. Considering not all states of the leader which are necessary for complete linearization can be measured in some cases, both full state feedback and non-full state feedback are discussed for the formation control. When the relative trajectory is affected by the unmeasured states in non-full state feedback case, the bounded position error caused by the disturbance can be guaranteed and the formation controller still works well. Simulation results are presented to demonstrate the formation control performance even if the course angle of the leader is changeable.
Keywords :
autonomous aerial vehicles; linearisation techniques; multi-robot systems; position control; state feedback; bounded position error; dynamic process control; formation control; full state feedback; leader course angle; leader-follower structure; multiple UAVs cooperation; multiple unmanned aerial vehicles; nonfull state feedback; relative trajectory; second-order feedback linearization; velocity coordinate system; Aerodynamics; Equations; Lead; Mathematical model; State feedback; Trajectory; Vehicle dynamics; Formation control; dynamic inversion; feedback linearization; helicopter;
Conference_Titel :
Control Conference (CCC), 2012 31st Chinese
Conference_Location :
Hefei
Print_ISBN :
978-1-4673-2581-3