Distributed bearing-based formation control of networked thrust-propelled vehicles |
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| Institution: | 1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China;2. College of Information Science and Engineering, Northeastern University, Shenyang, China;3. Institute of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China;1. School of Environmental Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China;2. Institute of Space Science, Shandong University, Weihai 264209, China;3. State Key Laboratory of Geo-information Engineering, Xi''an Research Institute of Surveying and Mapping, Xi''an 710054, China;4. Department of Navigation Engineering, Naval University of Engineering, Wuhan 430033, China;5. Acoustic Science and Technology Laboratory, College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China;1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, PR China;2. Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education, Chongqing University, Chongqing 400044, PR China;3. School of Automation, Chongqing University, Chongqing 400044, PR China;1. Brno University of Technology, Faculty of Electrical Engineering and Communication, Technická 3058/10, 616 00 Brno, Czechia;2. Masaryk University, Faculty of Economics and Administration, Lipová 507/41a, 602 00 Brno, Czechia;3. Brno University of Technology, Faculty of Civil Engineering, Veve?í 331/95, 602 00 Brno, Czechia;4. Tatas Shevchenko National University of Kiev, Faculty of Computer Sciences and Cybernetics, Volodymirska str. 64, 01601 Kiev, Ukraine |
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| Abstract: | In this paper, the distributed bearing-based formation control problem of networked thrust-propelled vehicles (TPVs) is addressed, in which both the constant and time-varying velocity leaders are considered, respectively. By introducing a reference acceleration and adaptive control scheme for the followers, the mass knowledge is not necessary in contrast to the existing works. Based on the designed reference accelerations, distributed adaptive control laws are proposed for the networked TPVs. Then the stabilization conditions are presented and an inner-bearing prescribed formation can be achieved. Under the proposed control laws, the leader-follower formation maneuver problem for networked TPVs with system uncertainties can be solved. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control laws. |
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