Abstract
In this paper, a novel algorithm for the problem of trajectory tracking when considering the obstacle avoidance in an unknown environment only using the measurements of the follower is presented. First of all, for the kinematic model, the problem of trajectory tracking is solved based on the measurements collected from the onboard sensors of the follower, and an algorithm with the rotating matrix is proposed to solve the problem of obstacle avoidance. Thereafter, the dynamic surface control is used in the dynamic model, and a low-pass filter is given to decrease the cost of computation. Meanwhile, the disturbance rejection of the closed-loop system is discussed for the existence of an unknown input disturbance. Compared with the existing results, the wireless communication and the leader’s velocity are no longer required in the entire control task, which makes it easier to implement in engineering. The results of both numerical simulation and physical experiments are given to verify and demonstrate the effectiveness of the proposed approaches.
Sign-in/Register to access full text options 
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.
