Formation stabilization of nonlinear vehicles based on dynamic inversion and passivity

T. Péni, J. Bokor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Pages79-84
Number of pages6
Volume16
Publication statusPublished - 2005
Event16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005 - Prague, Czech Republic
Duration: Jul 3 2005Jul 8 2005

Other

Other16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005
CountryCzech Republic
CityPrague
Period7/3/057/8/05

Fingerprint

Stabilization
Level control
Control systems

Keywords

  • Dynamic inversion
  • Formation control
  • Passivity

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Péni, T., & Bokor, J. (2005). Formation stabilization of nonlinear vehicles based on dynamic inversion and passivity. In IFAC Proceedings Volumes (IFAC-PapersOnline) (Vol. 16, pp. 79-84)

Formation stabilization of nonlinear vehicles based on dynamic inversion and passivity. / Péni, T.; Bokor, J.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 16 2005. p. 79-84.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Péni, T & Bokor, J 2005, Formation stabilization of nonlinear vehicles based on dynamic inversion and passivity. in IFAC Proceedings Volumes (IFAC-PapersOnline). vol. 16, pp. 79-84, 16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005, Prague, Czech Republic, 7/3/05.
Péni T, Bokor J. Formation stabilization of nonlinear vehicles based on dynamic inversion and passivity. In IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 16. 2005. p. 79-84
Péni, T. ; Bokor, J. / Formation stabilization of nonlinear vehicles based on dynamic inversion and passivity. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 16 2005. pp. 79-84
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