NDLI: Formation control based on second-order feedback linearization

Content Provider	IEEE Xplore Digital Library
Author	Yihui Lin Mou Chen Rong Mei
Copyright Year	2012
Description	Author affiliation: College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China (Yihui Lin; Mou Chen) \|\| Criminal Investigation Department, Nanjing Forest Police College, Nanjing 210042, China (Rong Mei)
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.
Starting Page	5014
Ending Page	5018
File Size	199930
Page Count	5
File Format	PDF
ISBN	9781467325813
ISSN	21612927
e-ISBN	9789881563811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	State feedback feedback linearization helicopter Lead Aerodynamics dynamic inversion Formation control Trajectory Mathematical model Vehicle dynamics Equations
Content Type	Text
Resource Type	Article

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