{"title":"Network-based formation control of unmanned autonomous systems with directed topologies","authors":"Wenjian Zhong, Yuanqing Wu, Yanzhou Li","doi":"10.1504/ijvd.2023.131043","DOIUrl":null,"url":null,"abstract":"The formation control of unmanned autonomous systems with nonlinear dynamics and directed topology is studied in this paper. By virtue of ultra-wide bandwidth (UWB) localisation system, the relative position between each follower and the neighbouring agents can be obtained. A formation control condition for unmanned autonomous systems is derived by appropriately constructing a Lyapunov function. Further, a formation controller is designed to form the formation of all autonomous agents and reach the consensus of velocities. Some parameters are designed to ensure the feasibility of formation controller. The effectiveness of the formation control protocol is verified by numerical simulations.","PeriodicalId":54938,"journal":{"name":"International Journal of Vehicle Design","volume":null,"pages":null},"PeriodicalIF":0.6000,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Vehicle Design","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1504/ijvd.2023.131043","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 1
Abstract
The formation control of unmanned autonomous systems with nonlinear dynamics and directed topology is studied in this paper. By virtue of ultra-wide bandwidth (UWB) localisation system, the relative position between each follower and the neighbouring agents can be obtained. A formation control condition for unmanned autonomous systems is derived by appropriately constructing a Lyapunov function. Further, a formation controller is designed to form the formation of all autonomous agents and reach the consensus of velocities. Some parameters are designed to ensure the feasibility of formation controller. The effectiveness of the formation control protocol is verified by numerical simulations.
期刊介绍：
IJVD, the journal of vehicle engineering, automotive technology and components, has been established for over a quarter of a century as an international authoritative reference in the field. It publishes the Proceedings of the International Association for Vehicle Design, which is an independent, non-profit-making learned society that exists to develop, promote and coordinate the science and practice of vehicle design and safety.
Topics covered include
Vehicle engineering design
Automotive technology
R&D of all types of self-propelled vehicles
R&D of vehicle components
Interface between aesthetics and engineering
Integration of vehicle and components design into the development of complete vehicle systems
Social and environmental impacts of vehicle design
Energy
Safety.
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