Finite-time circular formation around a moving target with multiple underactuated ODIN vehicles

被引：9

作者：

Ghommam, Jawhar ^{[1
,2
]}

Saad, Maarouf ^{[2
]}

Mnif, Faisal ^{[1
]}

机构：

[1] Sultan Qaboos Univ, Dept Elect & Comp Engn, Muscat, Oman

[2] Ecole Technol Super 1100, Dept Genie Elect, Montreal, PQ, Canada

来源：

MATHEMATICS AND COMPUTERS IN SIMULATION | 2021年 / 180卷

关键词：

Circular formation; Underactuated ODIN vehicles; Command filter; Backstepping; Finite time convergence; FAULT-TOLERANT CONTROL; TRACKING CONTROL; NONLINEAR-SYSTEMS; SENSOR NETWORKS; CYCLIC PURSUIT; CIRCUMNAVIGATION; STABILIZATION; DESIGN; ROBOTS;

D O I：

10.1016/j.matcom.2020.08.026

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

In this paper, we present a framework for achieving circular formation of a two-dimensional moving target using a team of underactuated Omni-Directional Intelligent Navigator (ODIN) vehicles. The main goal is to ensure uniform circumnavigation of the moving target with prescribed radius, velocity and inter-vehicle spacing. In the formation, part of vehicle group is capable of obtaining information from the moving target. Distributed adaptive control laws are developed for the group of vehicles by merging the techniques of command filter and backstepping control. A robust controller is designed to compensate for the effect of non-smooth actuator saturation. With the proposed control, the convergence to a circular formation performance can be ensured in a finite time. Finally, numerical simulations are presented to show the effectiveness of the proposed formation scheme. (C) 2020 International Association for Mathematics and Computers in Simulation (IMACS). Published by Elsevier B.V. All rights reserved.

引用

页码：230 / 250

页数：21

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