This paper studies the formation control problem of vehicles with heterogeneous parameters and three typical communication topologies. A consensus-based control protocol is given to ensure that the platoon of vehicles realizes the required vehicle spacing and velocity through the local information exchange between individual vehicles. First, we use a state transformation to transform the formation problem of vehicles into a consensus problem of multi-vehicle system. Then, a state linear transformation is used to transform the consensus problem into a stability problem. In addition, the design process of gain matrices in the protocol is given based on Lyapunov’s inequality and bilinear matrix inequality (BMI). Finally, numerical examples are given to illustrate the validity of the results, and the convergence rate of the system is studied under different communication topologies.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Analysis and Design of Heterogeneous Vehicle Formation Control Based on Consensus of Multi-agent Systems


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Zhang, Zhenyuan (Herausgeber:in) / Chen, Yangzhou (Autor:in) / Zong, Ronglin (Autor:in) / Zhan, Jingyuan (Autor:in)

    Kongress:

    International Conference on Intelligent Transportation Engineering ; 2021 ; Beijing, China October 29, 2021 - October 31, 2021



    Erscheinungsdatum :

    01.06.2022


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Analysis and Design of Heterogeneous Vehicle Formation Control Based on Consensus of Multi-agent Systems

    Chen, Yangzhou / Zong, Ronglin / Zhan, Jingyuan | British Library Conference Proceedings | 2022


    Consensus-Based Formation Control for Heterogeneous Multi-Agent Systems in Complex Environments

    Xiaofei Chang / Yiming Yang / Zhuo Zhang et al. | DOAJ | 2025

    Freier Zugriff