Practical Formation Tracking Control of Multiple Unicycle Robots
This note presents a distributed formation tracking scheme for multiple nonholonomic unicycle robots with any smooth reference trajectory, either feasible or non-feasible. The formation tracking problem is solved via a local tracking control law and a distributed virtual reference trajectory, conver...
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8779639/ |
| _version_ | 1818611546525270016 |
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| author | Lixia Yan Baoli Ma |
| author_facet | Lixia Yan Baoli Ma |
| author_sort | Lixia Yan |
| collection | DOAJ |
| description | This note presents a distributed formation tracking scheme for multiple nonholonomic unicycle robots with any smooth reference trajectory, either feasible or non-feasible. The formation tracking problem is solved via a local tracking control law and a distributed virtual reference trajectory, converting the cooperative formation problem into a local tracking case. Several state transformations, dynamic oscillator approach, graph theory, and Lyapunov's method are combined to design formation tracking control law. We prove that the closed-loop formation tracking errors are globally uniformly ultimately convergent to an arbitrarily small neighborhood of the origin. This convergence does not depend on any persistent excitation (PE) condition of the reference trajectory. The simulation results validate the proposed formation tracking design. |
| first_indexed | 2024-12-16T15:32:03Z |
| format | Article |
| id | doaj.art-8a5d222f7076456aa51b2f1bb01e6e56 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-16T15:32:03Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-8a5d222f7076456aa51b2f1bb01e6e562022-12-21T22:26:18ZengIEEEIEEE Access2169-35362019-01-01711341711342610.1109/ACCESS.2019.29317508779639Practical Formation Tracking Control of Multiple Unicycle RobotsLixia Yan0https://orcid.org/0000-0002-0174-4795Baoli Ma1The Seventh Research Division, School of Automation Science and Electrical Engineering, Beihang University, Beijing, ChinaThe Seventh Research Division, School of Automation Science and Electrical Engineering, Beihang University, Beijing, ChinaThis note presents a distributed formation tracking scheme for multiple nonholonomic unicycle robots with any smooth reference trajectory, either feasible or non-feasible. The formation tracking problem is solved via a local tracking control law and a distributed virtual reference trajectory, converting the cooperative formation problem into a local tracking case. Several state transformations, dynamic oscillator approach, graph theory, and Lyapunov's method are combined to design formation tracking control law. We prove that the closed-loop formation tracking errors are globally uniformly ultimately convergent to an arbitrarily small neighborhood of the origin. This convergence does not depend on any persistent excitation (PE) condition of the reference trajectory. The simulation results validate the proposed formation tracking design.https://ieeexplore.ieee.org/document/8779639/Formation trackingunicycle robotspractical stabilizationtransverse functiondynamic oscillator |
| spellingShingle | Lixia Yan Baoli Ma Practical Formation Tracking Control of Multiple Unicycle Robots IEEE Access Formation tracking unicycle robots practical stabilization transverse function dynamic oscillator |
| title | Practical Formation Tracking Control of Multiple Unicycle Robots |
| title_full | Practical Formation Tracking Control of Multiple Unicycle Robots |
| title_fullStr | Practical Formation Tracking Control of Multiple Unicycle Robots |
| title_full_unstemmed | Practical Formation Tracking Control of Multiple Unicycle Robots |
| title_short | Practical Formation Tracking Control of Multiple Unicycle Robots |
| title_sort | practical formation tracking control of multiple unicycle robots |
| topic | Formation tracking unicycle robots practical stabilization transverse function dynamic oscillator |
| url | https://ieeexplore.ieee.org/document/8779639/ |
| work_keys_str_mv | AT lixiayan practicalformationtrackingcontrolofmultipleunicyclerobots AT baolima practicalformationtrackingcontrolofmultipleunicyclerobots |