Cooperative Control for Moving-Target Circular Formation of Nonholonomic Vehicles

• Published in: IEEE transactions on automatic control Vol. 62; no. 7; pp. 3448 - 3454
• Main Authors: Yu, Xiao, Liu, Lu
• Format: Journal Article
• Language: English
• Published: IEEE 01.07.2017
• Subjects: Biomedical measurement; Closed loop systems; Cooperative control; Coordinate measuring machines; Extraterrestrial measurements; moving-target circular formation; Nickel; nonholonomic vehicles; Vehicles; Velocity measurement

This note investigates the problem of moving-target circular formation of nonholonomic vehicles, such that the controlled vehicles orbit around a target moving with a time-varying velocity and maintain even spacing along the common circle. A cooperative controller is developed for each vehicle via l...