Emergent Mind
Distance-Based Formation Tracking with Unknown Bounded Reference Velocities
(2003.14353)
Published Mar 31, 2020
in
eess.SY
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cs.SY
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and
math.OC
Abstract
This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the formation and move at the leaders' velocity. The control law consists of a component to handle the uncertainty of the leaders' velocity and a component to achieve the desired distances in finite time. Numerical simulations are also provided to support the theoretical results.
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