Abstract
In this paper, a fixed-time rigidity-based formation maneuvering control system with distributed finite-time velocity estimator is studied. The controller of the system is realized by using the local coordinate frames of the agents without the global coordinate information. We design a distributed finite-time velocity estimator, in which the desired velocity vector is considered to be available to part with agents directly, and it can be estimated at finite-time for each agent. The target formation graph is assumed to be minimally and infinitesimally rigid. A distance-based formation maneuvering controller has been presented, which proves that in 3-D space, the agents could escape from collinear environment. Meanwhile, the formation can achieve the desired shape and track the velocity trajectory in fixed-time after the estimator estimates the velocity in finite-time. The stability and convergence of the formation maneuvering system is proved by Lyapunov and input-to-state stability theory. Finally, simulations are provided to validate the performance and effectiveness of the proposed schemes.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
