Distance-Based Formation Tracking with Unknown Bounded Reference Velocities
Systems and Control
2021-06-22 v2 Systems and Control
Optimization and Control
Abstract
This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the formation and move at the leaders' velocity. The control law consists of a component to handle the uncertainty of the leaders' velocity and a component to achieve the desired distances in finite time. Numerical simulations are also provided to support the theoretical results.
Cite
@article{arxiv.2003.14353,
title = {Distance-Based Formation Tracking with Unknown Bounded Reference Velocities},
author = {Dung Van Vu and Minh Hoang Trinh and Hyo-Sung Ahn},
journal= {arXiv preprint arXiv:2003.14353},
year = {2021}
}
Comments
accepted to ICCAS 2020