Distributed Formation Control of Nonholonomic Vehicles Subject to Velocity Constraints

• Published in: IEEE transactions on industrial electronics (1982) Vol. 63; no. 2; pp. 1289 - 1298
• Main Authors: Yu, Xiao, Liu, Lu
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.02.2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Acceleration; Angular velocity; Constants; Distributed formation control; Formations; Graph theory; Mathematical models; Network topology; nonholonomic vehicle; Position measurement; Simulation; Stability analysis; Topology; Vehicles; velocity constraint; Distributed formation control; velocity constraint; nonholonomic vehicle

This paper considers a leader-follower formation control problem of nonholonomic vehicles of unicycle-type subject to velocity constraints. The velocity constraints of each vehicle are described by saturated angular velocity and bounded linear velocity lying between two positive constants. The commu...