Abstract
The formation control of unmanned autonomous systems with nonlinear dynamics and directed topology is studied in this paper. By virtue of ultra-wide bandwidth (UWB) localisation system, the relative position between each follower and the neighbouring agents can be obtained. A formation control condition for unmanned autonomous systems is derived by appropriately constructing a Lyapunov function. Further, a formation controller is designed to form the formation of all autonomous agents and reach the consensus of velocities. Some parameters are designed to ensure the feasibility of formation controller. The effectiveness of the formation control protocol is verified by numerical simulations.
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