Multi-circular formation control with reinforced transient profiles for nonholonomic vehicles: A path-following framework

Abstract

This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph. A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path, which allows for a circumnavigation on multiple circles with an anticipant angular spacing. In addition, notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios, hence an improved prescribed performance control (IPPC) using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots. The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles. Furthermore, all variables existing in the entire system are analyzed to be convergent. Simulation and experimental results are provided to validate the utility of suggested solution.

Keywords

• Multi-circular formation
• Reinforced transient profiles
• Nonholonomic vehicles
• Path following