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arXiv · 2003.14353

Distance-Based Formation Tracking with Unknown Bounded Reference Velocities

Dung Van Vu·Minh Hoang Trinh·Hyo-Sung Ahn
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Abstract

This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the formation and move at the leaders' velocity. The control law consists of a component to handle the uncertainty of the leaders' velocity and a component to achieve the desired distances in finite time. Numerical simulations are also provided to support the theoretical results.

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Dung Van Vu, Minh Hoang Trinh, Hyo-Sung Ahn. 2020-09-03. Distance-Based Formation Tracking with Unknown Bounded Reference Velocities. https://doi.org/10.23919/iccas50221.2020.9268314

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