This paper studies distributed platoon control with virtual path constraints. Using transverse feedback linearization, the control approach decouples the platoon’s dynamics into components tangential and transversal to the path. A platoon controller exclusively in the tangential subsystem controls the platoon’s formation tangentially along the path, while a feedback control law in the transversal component stabilizes the platoon to remain on the path. As an application of the theory, a human-robot interaction experiment is performed on a platoon of quadrotors. The platoon leader implements an admittance controller, which allows the platoon to respond to human-applied forces. The path constraints limit the platoon’s movement to only be along the path, ensuring safety to the interacting human.


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    Titel :

    Vehicle Platoon Control with Virtual Path Constraints


    Beteiligte:
    Sun, Jianwei (Autor:in) / Gill, Rajan (Autor:in)


    Erscheinungsdatum :

    01.08.2019


    Format / Umfang :

    888832 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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