Double-graph control strategy of multi-vehicle formations
Zhen Jin, Richard M. Murray · 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) · 2004
In this paper, we investigate a distributed control strategy for multi-vehicle formations based on double-graph model. By using this strategy, each vehicle in the leader-follower system adjusts its behavior according to the leader vehicle as well as its neighbors. For arbitrary formation topology, we successfully formulate the stability and performance of the whole formation. The simulation and experimental results verify the stability and efficiency of this control strategy.