Formation control and string stability of a group of kinematic vehicles with front-steering wheels

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Abstract

The paper considers control problems of a group of frontsteering wheels kinematic nonholonomic vehicles with three wheels. The problems of driving the vehicles towards desired rigid and stringlike formations are considered. Special attention is given to the string stability problem and a control algorithm has been established for regulating propagation of disturbances through the vehicle string. Finally, the effectiveness of the proposed controllers for rigid formation and convoy of vehicles are demonstrated.

Original languageEnglish
Title of host publication2017 25th Mediterranean Conference on Control and Automation, MED 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1011-1016
Number of pages6
ISBN (Electronic)9781509045334
DOIs
StatePublished - 18 Jul 2017
Event25th Mediterranean Conference on Control and Automation, MED 2017 - Valletta, Malta
Duration: 3 Jul 20176 Jul 2017

Publication series

Name2017 25th Mediterranean Conference on Control and Automation, MED 2017

Conference

Conference25th Mediterranean Conference on Control and Automation, MED 2017
Country/TerritoryMalta
CityValletta
Period3/07/176/07/17

Keywords

  • Formation control
  • Front-steering wheel
  • Kinematic nonholonomic vehicle
  • String stability
  • Trajectory tracking

ASJC Scopus subject areas

  • Control and Optimization
  • Modeling and Simulation

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