防务技术2024，Issue(1) ：278-287.DOI:10.1016/j.dt.2023.02.023

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

Jintao Zhang Xingling Shao Wendong Zhang Zongyu Zuo
防务技术2024，Issue(1) ：278-287.DOI:10.1016/j.dt.2023.02.023
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Multi-circular formation control with reinforced transient profiles for nonholonomic vehicles:A path-following framework

Jintao Zhang 1Xingling Shao 1Wendong Zhang 1Zongyu Zuo2
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作者信息

  • 1. 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
  • 2. Seventh Research Division,School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China
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Abstract

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.

Key words

Multi-circular formation/Reinforced transient profiles/Nonholonomic vehicles/Path following

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基金项目

National Natural Science Foundation of China(62173312)

National Natural Science Foundation of China(61803348)

National Major Scientific Instruments Development Project(61927807)

Program for the Innovative Talents of Higher Education Institutions of Shanxi()

Shanxi Province Science Foundation for Excellent Youths()

Shanxi"1331 Project"Key Subjects Construction(1331KSC)

Graduate Innovation Project of Shanxi Province(2021Y617)

出版年

2024
防务技术
中国兵工学会

防务技术

CSTPCD
影响因子：0.358
ISSN：2214-9147
参考文献量44
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