Multi-circular formation control with reinforced transient profiles for nonholonomic vehicles:A path-following framework  

作　　者：Jintao Zhang Xingling Shao Wendong Zhang Zongyu Zuo 

机构地区：[1]School of Instrument and Electronics,North University of China,Taiyuan 030051,China [2]State Key Laboratory of Dynamic Measurement Technology,North University of China,Taiyuan 030051,China [3]Seventh Research Division,School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China

出　　处：《Defence Technology（防务技术）》2024年第1期278-287,共10页Defence Technology

基　　金：supported in part by the National Natural Science Foundation of China under Grant Nos.62173312 and 61803348;in part by the National Major Scientific Instruments Development Project under Grant No.61927807;in part by the Program for the Innovative Talents of Higher Education Institutions of Shanxi;Shanxi Province Science Foundation for Excellent Youths;in part by the Shanxi"1331 Project"Key Subjects Construction(1331KSC);in part by Graduate Innovation Project of Shanxi Province under Grant No.2021Y617。

摘　　要：This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.

关 键 词：Multi-circular formation Reinforced transient profiles Nonholonomic vehicles Path following 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U463.6[自动化与计算机技术—控制科学与工程]