Distributed Receding Horizon Formation Control for Multi-Vehicle Systems with Relative Model
文献类型：会议论文
| 作者 | Wang Z(王争) ; He YQ(何玉庆); Han JD(韩建达)
|
| 出版日期 | 2011 |
| 会议名称 | The 18th IFAC World Congress |
| 会议日期 | August 28 - September 2, 2011 |
| 会议地点 | Milano, Italy |
| 关键词 | distributed receding horizon control formation control relative dynamics |
| 页码 | 6 pp. |
| 中文摘要 | In this paper, a new distributed receding horizon formation control scheme is introduced using relative dynamical model instead of absolute dynamical model of each member robot in most existing formation control algorithms. Convergence of the proposed distributed receding horizon formation control (DRHFC) is implemented using some additional control input constraints, and the relative dynamical model is used to relieve the performance degradation due to huge computational burden and heavy measurement noises. In order to verify the feasibility and validity of the proposed algorithm, a simulation is conducted and compared to the formation control with absolute dynamical models. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IFAC |
| 会议录 | The 18th IFAC World Congress
 |
| 会议录出版者 | IFAC |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/8675]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang Z,He YQ,Han JD. Distributed Receding Horizon Formation Control for Multi-Vehicle Systems with Relative Model[C]. 见:The 18th IFAC World Congress. Milano, Italy. August 28 - September 2, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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