Title :
Control of a group of point mass vehicles using energy methods
Author :
Chavez Grunewald, Martin G. ; Abel, Dirk
Author_Institution :
Inst. of Autom. Control, RWTH Aachen Univ., Aachen, Germany
Abstract :
This paper deals with the energy based control of a group of interconnected vehicles modeled as point masses. The control design is carried out by first shaping the kinetic energy and afterwards adding virtual potential energy and dissipative terms in order to achieve the desired stability performance. We assume that the vehicles move on a 2D surface and apply the results to simple examples with two and three units.
Keywords :
interconnected systems; stability; vehicles; 2D surface; dissipative terms; energy based control; interconnected vehicles; kinetic energy; stability performance; virtual potential energy; Aerospace electronics; Kinetic energy; Measurement; Potential energy; Tensile stress; Vectors; Vehicles; energy shaping; nonlinear control; virtual potential energy;
Conference_Titel :
Control Conference (ECC), 2009 European
Conference_Location :
Budapest
Print_ISBN :
978-3-9524173-9-3
