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GIST Scholar College of Engineering Department of Mechanical and Robotics Engineering 2. Conference Papers

Distance-based Formation Tracking with Unknown Bounded Reference Velocity

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Author(s)
Dung Van Vu; Minh Hoang Trinh; Ahn, Hyo-Sung
Type
Conference Paper
Citation
20th International Conference on Control, Automation and Systems, ICCAS 2020, pp.524 - 529
Issued Date
2020-10-13
Abstract
This paper studies a distance-based formation tracking problem in the d-dimensional space. The formation has a directed acyclic leader-following structure with d leaders moving at a same unknown bounded velocity. Distributed control laws are proposed for follower agents to maintain the desired formation shape and move at the leaders' velocity in finite time. Simulation results are also provided to support the theoretical analysis. © 2020 Institute of Control, Robotics, and Systems - ICROS.
Publisher
ICROS(Institute of Control, Robotics and Systems)
Conference Place
KO
Busan
URI
https://scholar.gist.ac.kr/handle/local/22730
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