Coordinated path following control of multi-unicycle formation motion around closed curves in a time-invariant flow

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• 作者：Yang-Yang Chen ; Yu-Ping Tian
• 关键词：Robust coordinated path following control ; Unicycles ; Curve extension ; Nonlinear dynamics
• 刊名：Nonlinear Dynamics
• 出版年：2015
• 出版时间：July 2015
• 年：2015
• 卷：81
• 期：1-2
• 页码：1005-1016
• 全文大小：1,298 KB
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• 作者单位：Yang-Yang Chen (1) (2)
  Yu-Ping Tian (1) (2)
  
  1. School of Automation, Southeast University, Nanjing, 210096, People’s Republic of China
  2. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing, 210096, People’s Republic of China
  
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems and Control
  Mechanics
  Mechanical Engineering
  Automotive and Aerospace Engineering and Traffic
  
• 出版者：Springer Netherlands
• ISSN：1573-269X

文摘

This paper utilizes a dynamic model of unicycles to address the stabilization of formation motion around closed curves in the presence of a time-invariant flow field. It is shown that our previous concentric compression design can be extended to deal with robust coordinated path following control for fighting against the external flow field. Linear acceleration control for each unicycle is used and combined with the rotation control to achieve both temporal and spatial formations in the case of a spatially variable flow, which breaks the restriction of temporally balanced formation relied solely on the angle control in the literature. A potential function is introduced to force each unicycle’s speed greater than the magnitude of flow. The theoretical result is proved by two numerical examples.