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Finite-time circular formation around a moving target with multiple underactuated ODIN vehicles

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  • Ghommam, Jawhar
  • Saad, Maarouf
  • Mnif, Faisal

Abstract

In this paper, we present a framework for achieving circular formation of a two-dimensional moving target using a team of underactuated Omni-Directional Intelligent Navigator (ODIN) vehicles. The main goal is to ensure uniform circumnavigation of the moving target with prescribed radius, velocity and inter-vehicle spacing. In the formation, part of vehicle group is capable of obtaining information from the moving target. Distributed adaptive control laws are developed for the group of vehicles by merging the techniques of command filter and backstepping control. A robust controller is designed to compensate for the effect of non-smooth actuator saturation. With the proposed control, the convergence to a circular formation performance can be ensured in a finite time. Finally, numerical simulations are presented to show the effectiveness of the proposed formation scheme.

Suggested Citation

  • Ghommam, Jawhar & Saad, Maarouf & Mnif, Faisal, 2021. "Finite-time circular formation around a moving target with multiple underactuated ODIN vehicles," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 180(C), pages 230-250.
    • Handle: RePEc:eee:matcom:v:180:y:2021:i:c:p:230-250
    DOI: 10.1016/j.matcom.2020.08.026
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    References listed on IDEAS

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    1. Wenjie Dong & Chunyu Chen & Yifan Xing, 2014. "Distributed estimation-based tracking control of multiple uncertain non-linear systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 45(10), pages 2088-2099, October.
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    Cited by:

    1. Rezaei, Vahid & Khanmirza, Esmaeel, 2024. "Continuous-time min-max consensus protocol: A unified approach," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 218(C), pages 292-310.

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