Cooperative Moving-Target Enclosing Control for Multiple Nonholonomic Vehicles Using Feedback Linearization Approach

Adaptive practical leader‐following formation control of multiple nonholonomic wheeled mobile robots

“…Some researchers turn to investigate deriving a single controller that is capable of realizing both formation tracking and formation stabilization. [23][24][25][26][27][28][29][30][31] In Reference 23, the authors construct a particular time-varying function to provide certain persistency of excitation for formation stabilization task, which can adapt to the formation tracking mission without any switching. The cascade-based control law reported in Reference 24 establishes uniform global asymptotic convergence of the formation errors no matter the leader is always moving or converging to some constant values.…”

“…Via shifting the interaction coordinate from body center to a point ahead termed as "hand position," one can use the feedback linearization method during the control design. [25][26][27][28][29] Though the obtained linear form is easy for control design, these results do not control the robot's orientation that performs as zero dynamics and requires additional efforts to analyze its stability. Without any PE condition imposed on the leader, the literature 29,30 follows the framework termed as transverse function approach of Reference 32 and achieve global ultimate boundedness of the formation errors; see also Reference 31.…”

“…Nonetheless, the literature [23][24][25][26][27][28][29][30][31] only consider the scenario that the leader is feasible and subject to the same nonholonomic constraint with the follower robot. Under a feasible leader, the derivatives of position errors can be partly rewritten as the function of orientation error.…”

“…Allowing formation with a nonfeasible leader promises wilder applications, compared with results only capable of formation with a feasible leader. [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][23][24][25][26][27][28][29][30][31] Since both our control design and closed-loop stability do not rely on any PE condition as those of References 2-8, the leader is allowed either moving or just standing still. Apart from those, the distributed nature of our formation scheme makes it direct to add additional followers to enlarge the capacity of network systems, and the control law with real-time parameter updating endows each follower robot with adaptive capacity toward model uncertainties.…”

“…Some researchers turn to investigate deriving a single controller that is capable of realizing both formation tracking and formation stabilization 23‐31 . In Reference 23, the authors construct a particular time‐varying function to provide certain persistency of excitation for formation stabilization task, which can adapt to the formation tracking mission without any switching.…”