Related papers: Formation Path Following Control of Underactuated …
In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…
In this paper, we formulate a virtual target-based path following guidance law aimed towards multi-vehicle path following problem. The guidance law is well suited to precisely follow circular paths while minting desired distance between two…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…
In this article a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. The path is parametrised by a path variable that is used to propagate a path-tangential…
In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing requirements, commonly referred to as path-following…
Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…
This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
In this paper, we have studied the control problem of target-point based path following for car-type vehicles. This special path following task arises from the needs of vision based guidance systems, where a given target-point located ahead…
This paper addresses the trajectory planning for multiple autonomous underwater vehicles (AUVs) in strong waves that can disturb the AUVs' trajectory tracking ability and cause obstacle and inter-vehicle collisions. A novel approach based…
Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping Wing Aerial VehicleThis paper presents both the trajectory generation and tracking control strategies for an underactuated flapping wing aerial vehicle (FWAV).…
This paper presents a fully data-driven control framework for autonomous underwater vehicles (AUVs) based on Data-Enabled Predictive Control (DeePC). The approach eliminates the need for explicit hydrodynamic modeling by exploiting measured…
In this paper,we design a formation control systrm for multi-unmanned ground vehicles(UGV) from the prospective of path planning and path tracking.The master-slave control is adopted by electing out a main vehicle to address the problem of…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…