Finite-time formation tracking control for multiple vehicles: A motion planning approach

Yongfang Liu, Yu Zhao, Guanrong Chen

Research output: Contribution to journalArticlepeer-review

92 Scopus citations

Abstract

This paper addresses the finite-time formation tracking problem for multiple vehicles with dynamics model on SE(3) (the specific Euclidean group of rigid body motions), under the condition that the tracking time is preassigned according to the task requirements. By using Pontryagin's maximum principle on Lie groups, a class of finite-time optimal tracking control laws are designed for vehicles to track a desired trajectory within a given finite time. Meanwhile, the corresponding cost function is minimized. Furthermore, a tracking-time lower bound is derived for multi-vehicle systems with control constraints. Finally, an illustrative example is provided to demonstrate the effectiveness of the proposed control laws.

Original languageEnglish
Pages (from-to)3130-3149
Number of pages20
JournalInternational Journal of Robust and Nonlinear Control
Volume26
Issue number14
DOIs
StatePublished - 25 Sep 2016

Keywords

  • finite-time
  • formation tracking
  • Lie group
  • optimal control

Fingerprint

Dive into the research topics of 'Finite-time formation tracking control for multiple vehicles: A motion planning approach'. Together they form a unique fingerprint.

Cite this