Abstract
This paper develops a procedure to design passivity-based controllers for stabilization, trajectory tracking, and formation control of a class of underactuated planar vehicles. The proposed approach uses generalized canonical transformations and energy shaping techniques and offers a framework to design stabilization and trajectory tracking controllers with the same structure. This approach is further applied to multi-agent formation stabilization and tracking problems. The proposed method can be used to solve motion control problems for a class of underactuated planar vehicles with a unified controller structure. As an example, the method is then applied to design controllers for planar mobile robots. Numerical simulations are presented for each case.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
