Formation Stabilization of Nonlinear Vehicles Based on Dynamic Inversion and Passivity
نویسندگان
چکیده
This paper proposes a hierarchical formation stabilization method for vehicles having nonlinear dynamics. Supposing that the formation control problem is already solved for the case of linear vehicle dynamics, the method proposes a dynamic inversion based low-level control, which linearizes, at least approximately, the original vehicle dynamics so that the formation control can be applied. In this way a hierarchical control system is obtained, which is then completed with a passivity based stabilization procedure for the stability of the entire system can be guaranteed. Copyright c 2005 IFAC.
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