Network-based leader-following formation control of second-order autonomous unmanned systems |
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| Authors: | Yanzhou Li Yuanqing Wu Shenghuang He |
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| Institution: | 1. College of Information Science and Engineering, Northeastern University, Shenyang 110819, P.R. China;2. The State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, P.R. China;3. The Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China, Northeastern University, Shenyang, Liaoning, China;1. School of Automation, Southeast University, Nanjing 210096, China;2. School of Applied Mathematics, Nanjing University of Finance and Economics, Nanjing 210023, China;3. College of Information Engineering, Nanjing University of Finance and Economics, Nanjing 210023, China;4. Department of Automation, Zhejiang University of Technology, Hangzhou 310018, China |
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| Abstract: | This article investigates two kinds of leader-following formation control problems of second-order autonomous unmanned systems under directed topology, that are, the cases with constant velocity and time-varying velocity for the leader. First, the kinematical equation of autonomous unmanned systems is established according to some real scenarios. Second, by assuming the velocity of the leader is constant, a sufficient condition ensuring the formation control of autonomous unmanned systems is derived and some control parameters are suitably designed. Third, it is assumed that the velocity of leader is time-varying, and the formation controller with two parts is designed. The first part is intended to form the desired formation of all followers and the second part aims to reach the consensus of velocity. Some simulation examples are finally presented to verify the effectiveness of the obtained theoretical results. |
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