Multi-circular formation control with reinforced transient profiles for nonholonomic vehicles:A path-following framework

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外文摘要：This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordi-nated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.

外文关键词：

Multi-circular formationReinforced transient profilesNonholonomic vehiclesPath following

作者：

Jintao Zhang、Xingling Shao、Wendong Zhang、Zongyu Zuo

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作者单位：

School of Instrument and Electronics,North University of China,Taiyuan 030051,China

State Key Laboratory of Dynamic Measurement Technology,North University of China,Taiyuan 030051,China

Seventh Research Division,School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China

基金：

the National Natural Science Foundation of Chinathe National Major Scientific Instruments Development Projectthe Program for the Innovative Talents of Higher Education Institutions of ShanxiShanxi Province Science Foundation for Excellent Youthsthe Shanxi"1331 Project"Key Subjects ConstructionGraduate Innovation Project of Shanxi Province

项目编号：

62173312;61803348619278071331KSC2021Y617

出版年：

2024

DOI：

10.1016/j.dt.2023.02.023

防务技术

中国兵工学会

防务技术

CSTPCD

影响因子：0.358

ISSN：2214-9147

年,卷(期)：2024.(1)

参考文献量44