Journals Proceedings

International Journal of Advances in Electronics Engineering

Formation control of multi-vehicle system using PID-like consensus algorithm

Author(s) : BHARAT BHUSHAN SHARMA, SUJEET KUMAR

Abstract

Formation control of multi-vehicle system has been studied as a combination of estimation problem and tracking problem. Virtual structure based formation control strategy is applied which solves the problem of formation maintenance and movement using a control architecture in hierarchical manner. The control architecture is distributed in nature and requires only local neighbor to neighbor communication which consists of three layers: formation state estimator, formation control module and the physical agent. In particular, a PID-like discrete-time consensus algorithm is applied on group level to estimate the time varying group trajectory information. Based on the estimated group trajectory information, a PID-like discrete-time consensus algorithm based tracking controller is applied on vehicle level. Numerical solution presented in the end, verifies the effectiveness of proposed approach.

No fo Author(s) : 2
Page(s) : 12 - 16
Electronic ISSN : 2278 - 215x
Volume 3 : Issue 3
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