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.
Vehicle Platoon Control with Virtual Path Constraints
2019-08-01
888832 byte
Conference paper
Electronic Resource
English
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