Distance-based Formation Tracking with Unknown Bounded Reference Velocity

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.