Formation Tracking Control of Multi-Vehicle Systems

In this paper, the problem of trajectory tracking of multiple vehicles in a manner of rigid formation is studied. Each vehicle is modeled as a rigid body whose dynamics evolve on Euclidean groups and by which, both position and attitude of the vehicle are considered. The formation control problem of multiple vehicles is decomposed into decentralised control problems of pairs of a vehicle and its parent vehicle. A distributed control law is proposed for vehicles to track a predefined trajectory with desired formations. A numerical simulation is finally included to verify the theoretical results.

本文研究了多辆车以刚性编队形式的轨迹跟踪问题。每辆车都被建模为一个刚体，其动力学在欧几里得群上演化，并且考虑了车辆的位置和姿态。多辆车的编队控制问题被分解为车辆与其父车辆成对的分散控制问题。提出了一种分布式控制律，用于车辆以期望的编队跟踪预定义的轨迹。最后包含了一个数值模拟来验证理论结果。