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This paper is concerned with the leader-follower formation control of multi-mobile robots. In the proposed formation control, a virtual vehicle is designed such that it converges to the reference trajectory based on the leader's position and heading without the need for leader's velocity and dynamics. By employing the dynamic surface control method in the design procedure of position tracking, we...
This paper addresses the problem of coordinated trajectory tracking control of multiple UUVs. In the proposed scheme, the leader-follower formation strategy which has a virtual global leader is adopted, and the formation task is achieved when the follower converges to the reference trajectory which generated by the position of the leader and the predefined formation. Then, a virtual guidance vehicle...
In this paper, we study the problem of tracking and encircling a moving target by agents in 3D. Specifically, a group of agents are driven to some desired formation on a spherical surface and simultaneously keep the center of this spherical formation coinciding with the target to be tracked. In our control design, the desired formation is not used as a reference signal for tracking. Rather by designing...
This paper proposes a distributed strategy to solve the leader-following formation problem for multiple under-actuated unicycles. Our distributed control law, dependent on the relative information of its nearest neighbor and itself, can not only enable a network of autonomous mobile agents to circulate around a target of interest, but also achieve any physically feasible formation.
This paper addresses the problem of coordinated formation control for multiple surface vessels, a distributed adaptive coordinated formation control strategy based on virtual leader is present. Firstly, with the passivity-based techniques, a guided system which gives out desired trajectory signal for follower vessels is designed. Then, considering the uncertainty in mathematical mode of the vessel,...
This paper investigates the formation problem for high-order continuous-time multi-agent systems with time-varying delay under switching communication topologies. The communication topology of multi-agent systems switches within a finite set of digraphs which depicts the communication structure between agents. One case of topology set is considered: there does not exist a directed spanning tree for...
The cooperative control of marine vehicles finds many applications in a variety of marine missions and tasks. This paper investigates the receding horizon formation control problem of a feet of nonholonomic autonomous underwater vehicles (AUVs), in which the follower AUVs are required to keep a prescribed formation pattern with respect to the leader one. A novel optimization problem and a new receding...
In this paper we focus on the optimization of the artificial physics based formation control algorithm, for the multiple Unmanned Aerial Vehicles(UAVs) formation control. It is known that time optimization is very important in many applications of the formation related problems. Therefore, in this paper, an optimization method using genetic algorithm is proposed to tune the parameters automatically...
The problems of tracking and distributed formation for leader-following heterogeneous multi-agent systems are investigated in this paper. Firstly, without considering the variable time delay, the formation control protocols are proposed for heterogeneous multi-agent systems under switching topologies. By using Lyapunov theory, the sufficient condition that the protocol can make the followers form...
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