Related papers: Leader-Follower Formation Control Using Differenti…
In the article$^a$, the authors introduced a time-varying Lyapunov function for the stability analysis of nonlinear systems whose motion is governed by standard Newton-Euler equations. The authors established asymptotic stability with the…
This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…
In this letter, we study the case of autonomous agents which are required to move to some new position based solely on the distance measured from predetermined reference points, or anchors. A novel approach, referred to as…
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by…
This paper demonstrates a novel guidance and control strategy for cislunar near-rectilinear halo orbit formation-keeping applied to high-fidelity dynamics. Bounded relative motion is constructed about long-duration ephemeris trajectories…
Achieving precise lateral motion modeling and decoupled control in hover remains a significant challenge for tail-sitter Unmanned Aerial Vehicles (UAVs), primarily due to complex aerodynamic couplings and the absence of welldefined lateral…
The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
This paper studies the cooperative tracking control problem for multiple mobile robots over a directed communication network. First, it is shown that the closed-loop system is uniformly globally asymptotically stable under the proposed…
With the growing deployment of small satellites (such as CubeSats, Nanosats, Picosats, and Femtosats) in Low Earth Orbit (LEO) for targeted applications like imaging, communication, data storage, and rendezvous-docking mission, there is…
This article presents an adaptive nonlinear delayed feedback control scheme for stabilizing the unstable periodic orbit of unknown fractional-order chaotic systems. The proposed control framework uses the Lyapunov approach and sliding mode…
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…
In this paper, we investigate the problem of controlling multiple unmanned aerial vehicles (UAVs) to enclose a moving target in a distributed fashion based on a relative distance and self-displacement measurements. A relative localization…
Angle-constrained formation control has attracted much attention from control community due to the advantage that inter-edge angles are invariant under uniform translations, rotations, and scalings of the whole formation. However, almost…
Autonomous ground vehicles have been designed for the purpose of that relies on ranging and bearing information received from forward looking camera on the Formation control . A visual guidance control algorithm is designed where real time…
This work introduces a linearized analytical model for the study of the dynamic of satellites in near circular orbits under the effects of the atmospheric drag. This includes the evaluation of the station keeping required for each satellite…
In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in…
Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…
This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader's attitude and velocity relative to the inertial space. A nonlinear distributed observer is…
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…