Applied Mathematics and Mechanics

, Volume 31, Issue 1, pp 27–36 | Cite as

Formation control for nonholonomic agents using passivity techniques

  • Fan Wu (吴凡)Email author
  • Zhi-yong Geng (耿志勇)


This paper studies the problem of the formation control for the multiple nonholonomic agents on a plane. A dynamic feedback linearization method is used to transform the dynamical model of each agent into two third-order integrator chains. A decentralized formation control law with the inter-agent damping injection is derived. The asymptotical stability of the overall system is proven using the Lyapunov method. The simulation of the formation maneuver of a planar vehicle shows the effectiveness of the proposed method.

Key words

nonholonomic agents formation full-state linearization passivity 

Chinese Library Classification


2000 Mathematics Subject Classification



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Copyright information

© Shanghai University and Springer Berlin Heidelberg 2010

Authors and Affiliations

  1. 1.State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace EngineeringPeking UniversityBeijingP. R. China

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