Study On The Vehicle Formation And Flocking Motion Control

With the social progress, economic development and urbanization, the problems oftraffic congestion, energy consumption and environmental pollution appear gradually. Vehicleformation control is a classical control topic of intelligent vehicle-infrastructure system. Therealization of vehicle formation control is helpful to improve the intelligence and securityperformance of the transport system. Based on the multi-robot system coordination andformation control, the paper mainly studies the vehicle formation and flocking control in theframework of leader-follower methodology. The main contributions of this paper are asfollows:1. Based on the control problem of vehicle formation changes into the followingproblem, the leader-follower motion model is built. And then, the speed controllers aredesigned using Lyapunov’s stability theory and the feedback linearization method.Simulations are taken in Matlab\Simulink platform.2. In order to deal with the deficiency of traditional control method, the backsteppingcontroller is proposed for vehicle formation realization. Leader-follower method is employedto construct the virtual vehicle. By using backstepping methodology and Lyapunov’s stabilitytheory, the vehicle trajectory tracking controller is designed for the follower vehicle, whichcan realize the vehicle formation control.3. Aiming at the situation that the individual is lack of leader’s information, the methodof virtual flocking center estimation is employed to design the distributed flocking motioncontrol algorithm based on the multi-agent. Finally, simulation is adopted to verify thecorrectness and effectiveness of the control algorithm.