内容提示: 1Leader-Follower Formation and Tracking Controlof Underactuated Surface VesselsBo Wang and Antonio Lor´ ıaAbstract—This paper presents a simple control ap-proach for global trajectory tracking and formation con-trol of underactuated surface vessels equipped with onlytwo propellers. The ...
彭周华;王丹;兰维瑶;孙刚.Robust Leader-Follower Formation Tracking Control of Multiple Underactuated Surface Vessels.中国海洋工程:英文版.2012.521-534PENG Z H,WANG D,LAN W Y,et al.Robust leaderfollower formation tracking control of multiple underactuated surface vessels[J].China Ocean Engineering,2012,...
In this paper, a novel fixed-time controller (FTC) strategy based on leader–follower mechanism and finite-time disturbance observer (FDO) is proposed for surface vehicles (SVs) formation suffering from complex unknowns. The excellent features of designed strategy are shown below: (1) A fixed-...
et al. Formation of raiding parties for intergroup violence is mediated by social network structure. Proc. Natl Acad. Sci. USA 113, 12114–12119 (2016). CAS PubMed PubMed Central Google Scholar Stein, R. M. War and revenge: explaining conflict initiation by democracies. Am. Polit. Sci....
We address the problem of tracking control of multiple mobile robots advancing in formation along straight-line paths. We use a leader-follower approach, and hence, we assume that only one swarm leader robot has the information of the reference trajectory. Then, each robot receives information fro...
Leader-follower formation control of autonomous underwater vehicles was studied,and a formation control algorithm was presented,of which the followers only need to use the position and heading informations of leader rather than its velocity,angular velocity and dynamic model informations.A reference traje...
Distributed leader-follower formation controllers are designed based on a state feedback and consensus algorithm. Considering that each vehicle is subject to model uncertainties and current disturbances, a second-order integral UUV model with a nonlinear function is established using the state feedback ...
In this paper,we consider the mobile robots formation control problem without direct measurement of the leader robot's linear velocity. Two decentralized nonlinear algorithms are proposed,respectively,based on adaptive dynamic feedback and immersion invariance estimation based second order sliding mode contr...
Research on Leader-follower formation control in the reciprocating task path 在线阅读 免费下载 引用 收藏 分享 摘要 多智能体编队在实际作业中,多以往复的工作路径进行,如货箱的搬运、区域的巡视监控等,如何在重复工作中确保多智能体编队的稳定性成为人们较为关注的问题。因此,利用Leader-follower控制算法理论中...
A combination of the virtual vehicle and trajectory tracking approach is used to derive the formation architecture. A virtual vehicle is steered in such a way it stabilizes to a shifted reference position/heading defined by the leader, the velocity of the virtual vehicle is then provided for ...