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Coordinated path following control of multi-unicycle formation motion around closed curves in a time-invariant flow

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Abstract

This paper utilizes a dynamic model of unicycles to address the stabilization of formation motion around closed curves in the presence of a time-invariant flow field. It is shown that our previous concentric compression design can be extended to deal with robust coordinated path following control for fighting against the external flow field. Linear acceleration control for each unicycle is used and combined with the rotation control to achieve both temporal and spatial formations in the case of a spatially variable flow, which breaks the restriction of temporally balanced formation relied solely on the angle control in the literature. A potential function is introduced to force each unicycle’s speed greater than the magnitude of flow. The theoretical result is proved by two numerical examples.

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Acknowledgments

This work was supported in part by the National Natural Science Foundation of China under Grants 61203356, 61273110, 61374069, 61473081, in part by Doctoral Fund of Ministry of Education of China under Grant 20110092120025, in part by the open fund of Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education under Grant MCCSE2014B01, and in part by a Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions.

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Authors and Affiliations

  1. School of Automation, Southeast University, Nanjing, 210096, People’s Republic of China

    Yang-Yang Chen & Yu-Ping Tian

  2. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing, 210096, People’s Republic of China

    Yang-Yang Chen & Yu-Ping Tian

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  1. Yang-Yang Chen
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  2. Yu-Ping Tian
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Correspondence to Yang-Yang Chen.

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Chen, YY., Tian, YP. Coordinated path following control of multi-unicycle formation motion around closed curves in a time-invariant flow. Nonlinear Dyn 81, 1005–1016 (2015). https://doi.org/10.1007/s11071-015-2047-8

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  • DOI: https://doi.org/10.1007/s11071-015-2047-8

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