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Formation Tracking Control of Multi‐Vehicle Systems
Author(s) -
Dong Runsha,
Geng Zhiyong
Publication year - 2016
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1010
Subject(s) - trajectory , control theory (sociology) , tracking (education) , position (finance) , control (management) , track (disk drive) , computer science , vehicle dynamics , rigid body , euclidean group , control engineering , engineering , mathematics , artificial intelligence , automotive engineering , physics , classical mechanics , psychology , pedagogy , finance , astronomy , affine space , affine transformation , economics , operating system , pure mathematics
In this paper, the problem of trajectory tracking of multiple vehicles in a manner of rigid formation is studied. Each vehicle is modeled as a rigid body whose dynamics evolve on Euclidean groups and by which, both position and attitude of the vehicle are considered. The formation control problem of multiple vehicles is decomposed into decentralised control problems of pairs of a vehicle and its parent vehicle. A distributed control law is proposed for vehicles to track a predefined trajectory with desired formations. A numerical simulation is finally included to verify the theoretical results.