期刊
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS
卷 10, 期 3, 页码 1313-1325出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCNS.2023.3240223
关键词
Barrier Lyapunov function (BLF); funnel control; leader-follower asymptotic formation; nonholonomic robots
This article studies the control of a leader-follower pair of nonholonomic systems in the presence of formation constraints such as communication, feasibility, and performance constraints. It provides an asymptotic result via a properly designed funnel technique, and comparative study with the state of the art illustrates the benefits of the proposed method.
This article studies the control of a leader-follower pair of nonholonomic systems in the presence of formation constraints such as communication, feasibility, and performance constraints. In such a constrained configuration, communication constraints require maintaining limited-range connectivity, feasibility constraints on bearing angles are meant to avoid singularity in the control, and performance constraints include collision avoidance and prespecified transient behavior. Different from proposed solutions based on approximation-based prescribed performance or barrier Lyapunov techniques, this article provides an asymptotic result via a properly designed funnel technique. Stability analysis is provided, and a comparative study with the state of the art illustrates the benefits of the proposed method.
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