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.

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 call

Disclaimer: 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.