相关论文: Formation Path Following Control of Underactuated …

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…

The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are…

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…

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).…

Closed-loop control of turbulent flows is a challenging problem with important practical and fundamental implications. We perform closed-loop control of forced, turbulent jets based on a wave-cancellation strategy. The study is motivated by…

Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic…

This paper focuses on the control of a system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which cooperate to manipulate an object. The two units are subject to actuator saturations and cooperate to move…

This paper investigates the cooperative control of multiple unmanned and manned vehicles via an output containment control approach for heterogeneous discrete-time multiagent systems. The unmanned vehicles act as leading vehicles to guide…

This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on implicit…

This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…

In this paper, we present a space-and-time-synchronized control method with application to the simultaneous tracking/formation. In the framework of polar coordinates, through correlating and decoupling the reference/actual kinematics…

Unmanned Surface Vehicles (USVs) in the ocean environment, considering various spatiotemporal factors such as ocean currents and other energy consumption factors. The paper uses Gaussian Process Motion Planning (GPMP2), a Bayesian…

This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…

In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…

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…

It is due to the modularity of the analysis that results for cascaded systems have proved their utility in numerous control applications as well as in the development of general control techniques based on ``adding integrators''.…

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…

This paper tackles the challenging task of maintaining formation among multiple unmanned aerial vehicles (UAVs) while avoiding both static and dynamic obstacles during directed flight. The complexity of the task arises from its…

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…

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…