Time‐varying formation control with attitude synchronization of multiple rigid body systems

Abstract

In this article, we study the leader-following formation control problem for a group of rigid body systems whose followers' motions are described by dual quaternion equations. A few features are as follows. First, we introduce an exosystem to generate the leader's trajectory as well as the formation configuration, which can produce a large class of time-varying signals so that we can achieve a variety of time-varying formations. Second, to overcome the communication constraint described by a digraph, we extend the distributed observer to estimate not only the desired attitude and angular velocity but also the leader's position and linear velocity. Third, a novel distributed control law is synthesized to furnish a rigorous performance analysis of the closed-loop system. The effectiveness of our design is illustrated by a numerical example.

Enclosing control for nonholonomic mobile agents with a moving target of unknown velocity

“…In order to show that the conditions required in both 𝐏𝐫𝐨𝐛𝐥𝐞𝐦 𝟏 and 𝐏𝐫𝐨𝐛𝐥𝐞𝐦 𝟐 are satisfied, rewrite the closed-loop system in a compact form. According to ( 8) and (10)…”

“…When the target is moving, the knowledge of the target current dynamics (e.g., the target position, velocity or acceleration in practice) plays a key role in the controller designing process 10,11 . Many excellent results have been presented based on the measurements of the target real-time velocity or acceleration.…”

Enclosing control for nonholonomic mobile agents with a moving target of unknown velocity

“…When the target is moving, the knowledge of the target current dynamics (e.g., the target position, velocity or acceleration in practice) plays a key role in the controller designing process. 10,11 Many excellent results have been presented based on the measurements of the target real-time velocity or acceleration. A decoupled approach has been given by making use of the relative velocity information of each agent to the target, as well as the target acceleration.…”

“…When the target is moving, the knowledge of the target current dynamics (e.g., the target position, velocity or acceleration in practice) plays a key role in the controller designing process 10,11 . Many excellent results have been presented based on the measurements of the target real‐time velocity or acceleration.…”