论文标题
轴承受限的形成跟踪非跨性别互动的非独世纪剂的控制
Bearing-constrained Formation Tracking Control of Nonholonomic Agents without Inter-agent Communication
论文作者
论文摘要
这封信分别基于轴承向量和代理之间的位移，分别为多种非世俗药物的轴承受限跟踪控制协议。系统的所需形成模式由所需的跨轴承向量指定。在拟议的控制方案中，有两个或多个领导者以相同的恒定速度移动。其他追随者代理人没有领导人的速度信息，也没有与邻居传达变量的信息。根据拟议的控制法，该系统渐近地实现了移动目标形成。提供仿真结果以支持理论发展。
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system is specified by the desired inter-agent bearing vectors. In the proposed control schemes, there are two or more leaders moving with the same constant velocity; the other follower agents do not have the information of the leaders' velocity nor communicate variables with their neighbors. Under both the proposed control laws, the system achieves the moving target formation asymptotically. Simulation results are provided to support the theoretical development.
