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Temporal circular formation control with bounded trajectories in a uniform flowfield
, D. Zelazo
Published in Institute of Electrical and Electronics Engineers Inc.
Pages: 189 - 194
This paper studies circular formation control of multi-vehicle systems, modeled with unicycle dynamics, in a uniform flowfield with different temporal phase arrangements, while assuring that the trajectories of the vehicles remains bounded within a region. Using the idea of Barrier Lyapunov function in conjunction with temporal phase potential functions, we derive control laws that achieves our objectives, under a mild assumption on the initial states of the vehicles. We further obtain bounds on the various signals in the post-design analysis and show that these depends on the initial conditions and controller gains. Simulations are provided to illustrate the theoretical findings. © 2019 IEEE.