TY - JOUR
T1 - Finite-time circular formation around a moving target with multiple underactuated ODIN vehicles
AU - Ghommam, Jawhar
AU - Saad, Maarouf
AU - Mnif, Faisal
N1 - Funding Information:
This research was funded by the Ecole de Technologie Superieure , Montreal, Canada (Grant: FIR101903 ).
Publisher Copyright:
© 2020 International Association for Mathematics and Computers in Simulation (IMACS)
PY - 2021/2
Y1 - 2021/2
N2 - 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.
AB - 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.
KW - Backstepping
KW - Circular formation
KW - Command filter
KW - Finite time convergence
KW - Underactuated ODIN vehicles
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U2 - 10.1016/j.matcom.2020.08.026
DO - 10.1016/j.matcom.2020.08.026
M3 - Article
AN - SCOPUS:85090419373
SN - 0378-4754
VL - 180
SP - 230
EP - 250
JO - Mathematics and Computers in Simulation
JF - Mathematics and Computers in Simulation
ER -