A general method of controller design is developed for the purpose offormation keeping and reconfiguration of nonlinear systems with multiple subsystems, such as theformation of multiple aircraft, ground vehicles, or ...A general method of controller design is developed for the purpose offormation keeping and reconfiguration of nonlinear systems with multiple subsystems, such as theformation of multiple aircraft, ground vehicles, or robot arms. The model consists of multiplenonlinear systems. Controllers are designed to keep the subsystems in a required formation and tocoordinate the subsystems in the presence of environmental changes. A step-by-step algorithm ofcontroller design is developed. Sufficient conditions for the stability of formation tracking areproved. Simulations and experiments are conducted to demonstrate some useful coordination strategiessuch as movement with a leader, simultaneous movement, series connection of formations, andhuman-machine interaction.展开更多
The paper consists of three topics on control theory and engineering applications, namely bifurcation control, manufacturing planning, and formation control. For each topic, we summarize the control problem to be addr...The paper consists of three topics on control theory and engineering applications, namely bifurcation control, manufacturing planning, and formation control. For each topic, we summarize the control problem to be addressed and some key ideas used in our recent research. Interested readers are referred to related publications for more details. Each of the three topics in this paper is technically independent from the other ones. However, all three parts together reflect the recent research activities of the first author, jointly with other researchers in different fields.展开更多
文摘A general method of controller design is developed for the purpose offormation keeping and reconfiguration of nonlinear systems with multiple subsystems, such as theformation of multiple aircraft, ground vehicles, or robot arms. The model consists of multiplenonlinear systems. Controllers are designed to keep the subsystems in a required formation and tocoordinate the subsystems in the presence of environmental changes. A step-by-step algorithm ofcontroller design is developed. Sufficient conditions for the stability of formation tracking areproved. Simulations and experiments are conducted to demonstrate some useful coordination strategiessuch as movement with a leader, simultaneous movement, series connection of formations, andhuman-machine interaction.
基金Supported in part by Ford Motor Company, U.S. Air Force Research Laboratory, and National Science Foundation
文摘The paper consists of three topics on control theory and engineering applications, namely bifurcation control, manufacturing planning, and formation control. For each topic, we summarize the control problem to be addressed and some key ideas used in our recent research. Interested readers are referred to related publications for more details. Each of the three topics in this paper is technically independent from the other ones. However, all three parts together reflect the recent research activities of the first author, jointly with other researchers in different fields.
