• 전기학회논문지
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• 제60권8호
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• pp.1592-1598
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• 2011

In this paper, a formation control method based on the leader-following approach for nonholonomic mobile robots is proposed. In the previous works, it is assumed that the followers know the leader's velocity by means of communication. However, it is difficult that the followers correctly know the leader's velocity due to the contamination or delay of information. Thus, in this paper, an adaptive approach based on the parameter projection algorithm is proposed to estimate the leader's velocity. Moreover, the adaptive backstepping technique is used to compensate the effects of a dynamic model with the unknown time-invariant and time-varying parameters. From the Lyapunov stability theory, it is proved that the errors of the closed-loop system are uniformly ultimately bounded. Simulation results illustrate the effectiveness of the proposed control method.

• 전기학회논문지
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• 제61권7호
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• pp.1032-1040
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• 2012

This paper proposes controller of leader robot considering following robot with input constraints based on leader-following approach. In the previous formation control researches, it was assumed that leader and follower is same object. If leader robot drives as maximum speed that the initial position errors still remain even if following robot have same velocity as a leader. In the situation that velocity of following robot is lower than its leader robot, following robot cannot follow leader robot. Furthermore, the following robot will not be able to made formation with leader robot and keep proximity communication or sensing range. Therefore, multiple mobile robot system using leader-following method should be guaranteed range to get information each other. In this paper, Leader robot is driving to goal position using linear controller and following robot is following trajectory to be made from leader robot. We assume that following robot has input constraints to realize different performance between leader robot and following robot. We design controller of leader robot for desired goal position including the errors between formation and following robot. Thus, we propose leader robot controller considering input constraints of following robot. Finally, we were able to confirm the validity of the proposed method based on simulation results.

• 제어로봇시스템학회논문지
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• 제16권5호
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• pp.428-432
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• 2010

In this paper, an adaptive formation control based on the leader-following approach is proposed for multiple mobile robots with time varying parameters. The proposed controller does not require the velocity information of the leader robot, which is commonly assumed that it is either measured or telecommunicated. In order to estimate time varying velocities of the leader robot, the smooth projection algorithm is employed. From the Lyapunov stability theory, it is proved that the proposed control scheme can guarantee the uniform ultimate boundedness of error signals of the closed-loop system. Finally, the computer simulations are performed to demonstrate the performance of the proposed control system.

• International Journal of Aeronautical and Space Sciences
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• 제9권1호
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• pp.31-41
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• 2008

This paper deals with the energy saving problem of the follower aircraft in the loose leader-follower formation geometry in which the lateral separation between formation members is more than a wingspan of the leader aircraft. This formation geometry offers no drag benefit, but has a strategic advantage. In the case of loose formation flight, the follower aircraft usually consumes more energy than the leader aircraft because the follower aircraft should use more thrust to maintain given formation geometry, especially during the turning phase from the outside of the leader"s flight path or join-up phase. A formation control scheme based on the energy maneuverability is proposed in this paper. To design the proposed control law, the velocity command is designed using feedback linearization for the horizontal formation geometry and then coverts it to the altitude command using the energy equation. Numerical simulation is performed to verify the effectiveness of the proposed controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 정기총회 및 창립40주년기념 학술대회 학회본부
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• pp.484-485
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• 1987

The characteristics of leader development in rod -to- plane air gap (20cm gap length) under positive impulse potentials have been studied by means of 2-photomultiplier technique and image intensifier camera. It was shown that the streamers radiate relatively short wavelength light (${\sim}340nm$) while the leaders radiate a plenty of long wave length light ($400{\sim}800nm$). It was also known that the streamers propagate very fast with a velocity of $6{\times}l0^7cm/sec$ but the leaders have average velocity of $5{\times}10^6cm/sec$ and they proceed gradually fast by step-wise development.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.463-467
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• 2005

In this paper, the guidance law applicable to formation flight of UAV in three-dimensional space is proposed. The concept of miss distance, which is commonly used in the missile guidance laws, and Lyapunov stability theorem are effectively combined to obtain the guidance commands of the wingmen. The propose guidance law is easily integrated into the existing flight control system because the guidance commands are given in terms of velocity, flight path angle and heading angle to form the prescribed formation. In this guidance law, communication is required between the leader and the wingmen to achieve autonomous formation. The wingmen are only required the current position and velocity information of the leader vehicle. The performance of the proposed guidance law is evaluated using the complete nonlinear 6-DOF aircraft system. This system is integrated with nonlinear aerodynamic and engine characteristics, actuator servo limitations for control surfaces, various stability and control augmentation system, and autopilots. From the nonlinear simulation results, the new guidance law for formation flight shows that the vehicles involved in formation flight are perfectly formed the prescribed formation satisfying the several constraints such as final velocity, flight path angle, and heading angle.

• 정보처리학회논문지:컴퓨터 및 통신 시스템
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• 제5권10호
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• pp.327-330
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• 2016

다수의 차량이 주행하는 도로 환경에서 차량들을 플라툰(platoon) 단위로 형성하면 도로의 수용 가능 차량 대수(도로 용량)가 증가할 뿐만 아니라 운전자의 운전 편의성이 제고될 수 있다. 기존 차량 플라툰 방식에서는 일부 한정된 차량들로 플라툰을 형성하고 그 중에서 특정 차량을 플라툰 리더(leader)로 지정한다. 이와 같은 플라툰 방법의 경우 플라툰에 참여 가능한 차량이 제한적이기 때문에 플라툰이 도로 용량 증가에 기여하는 것이 제한적이다. 따라서 본 논문에서는 임의의 차량이 플라툰 리더가 될 수 있도록 허용하며, 플라툰 리더로 선정된 차량을 기준으로 플라툰을 적응적으로 형성하는 방법을 제안한다. 제안 방식에서는 차량 간 주기적인 비콘(beacon) 메시지 교환을 통해 획득한 주변 차량의 상대 속도 및 위치 정보를 이용해서 플라툰 리더를 선정한다. 도로 용량 증대 측면에서 제안 방식의 성능을 NS-3 기반의 시뮬레이션을 통해 입증한다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.293-295
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• 2009

In an Intelligent Transport System(ITS), data dissemination based on inter-vehicle communication is effective for acquiring real-time traffic-jam information. In this paper, we propose a novel method for traffic jam information dissemination in vehicular ad-hoc networks. In our proposed method, vehicles already trapped in a Traffic-Jam elect leaders according to their locations from upstream and downstream respectively. Then each leader generates traffic data which contains their position, velocity and leader counter respectively, and disseminate the information. {{br}}The implementation of our proposed method is evaluated by means of simulation, and we also present simulation result

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.50.5-50
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• 2002

In this paper, we propose a method using neural network (NN) to improve the motion control of a decentralized control system for cooperative transportation. In our former work, a decentralized control system for transporting a single object by multiple nonholonomic mobile robots has been developed. One of these mobile robots acts as a leader, who is assumed to be able to plan and to manipulate the omnidirectional motion of the object. Other robots, referred to as followers, cooperatively transport the object by keeping a constant position relative to the object. in this work, it is assumed that the leader can not only plan but also broadcast the local velocity of the object. Then...

• International Journal of Aeronautical and Space Sciences
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• 제7권1호
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• pp.84-90
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• 2006

The formation flying of satellites has been identified as an enabling technology for many future space missions. The application of conventional thrusters for formation flying usually results in high cost, limited life-time, and a large weight penalty. Various methods including the use of coulomb forces have been considered as an alternative to the conventional thrusters. In the present investigation, we investigate the feasibility of achieving the desired formation using Coulomb forces. This method has several advantages including low cost, light weight and no contamination. A simple controller based on the relative position and velocity errors between the leader and follower satellites is developed. The proposed controller is applied to circular formations considering the effects of disturbances in initial formation conditions as well as system nonlinearity. Results of the numerical simulation state that the proposed controller is successful in establishing circular formations of leader and follower satellites, for a formation size below 100 m.