Skip to Main content Skip to Navigation
Conference papers

Leader-following Formation Control of Second-order Autonomous Unmanned Systems under Switching Topologies

Abstract : A distributed formation control is proposed for the leader-following problem of second-order autonomous unmanned systems (AUSs) under switching topologies. A leader dynamics is assumed to be time-varying. Considering practical situations, the kinematic equations are established for the AUSs. Sufficient conditions are provided, which confirms the desired formation of AUSs. The construction of the formation controller is roughly divided in two steps. Firstly, the formation of all follower agents are derived for AUSs. Secondly, the velocity consensus of all follower agents to achieve the desired velocity by ensuring the formation control of AUSs. Finally, a numerical example demonstrates the efficacy of the proposed theoretical results.
Document type :
Conference papers
Complete list of metadata

https://hal-uphf.archives-ouvertes.fr/hal-03710240
Contributor : Kathleen TORCK Connect in order to contact the contributor
Submitted on : Thursday, June 30, 2022 - 3:02:06 PM
Last modification on : Saturday, July 2, 2022 - 3:47:51 AM

Identifiers

  • HAL Id : hal-03710240, version 1

Collections

Citation

Sandeep Kumar Soni, Ankit Sachan, Shyam Kamal, Sandip Ghosh, Mohamed Djemai. Leader-following Formation Control of Second-order Autonomous Unmanned Systems under Switching Topologies. 60th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2021, Sep 2021, Tokyo, Japan. pp.779 - 784. ⟨hal-03710240⟩

Share

Metrics

Record views

6