This paper explores the problem of distributed circular formation control for networked dynamic nonholonomic vehicles. The topology among the networked vehicles is described by a directed graph. A backstepping-based distributed control law, which requires each vehicle to use local measurement and communication, is proposed for the kinematic and dynamic models of nonholonomic vehicles. The study demonstrates that all vehicles can achieve global convergence to a predetermined circular trajectory while revolving around the target. Furthermore, they can also globally converge to a desired formation with appropriate spacing along the circular path. Finally, a simulation example is presented to illustrate the result.
Backstepping Design for Circular Formation Control of Dynamic Nonholonomic Vehicles
2023-08-27
1362741 byte
Conference paper
Electronic Resource
English
High Order Nonholonomic Systems Control by Backstepping Approach
British Library Online Contents | 2002
|Backstepping Automatic Stop Control of Urban Rail Vehicles
British Library Online Contents | 2014
|DISTRIBUTED MODEL PREDICTIVE POSE CONTROL OF MULTIPLE NONHOLONOMIC VEHICLES
British Library Conference Proceedings | 2019
|