Title: Network-based formation control of unmanned autonomous systems with directed topologies

Authors: Wenjian Zhong; Yuanqing Wu; Yanzhou Li

Addresses: Guangdong School of Automation, Guangdong University of Technology, Guangzhou, Guangdong Province, 510006, China ' Guangdong School of Automation, Guangdong University of Technology, Guangzhou, Guangdong Province, 510006, China ' Guangdong School of Automation, Guangdong University of Technology, Guangzhou, Guangdong Province, 510006, China

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.

Keywords: unmanned autonomous systems; formation control; UWB; ultra-wide bandwidth.

DOI: 10.1504/IJVD.2023.131043

International Journal of Vehicle Design, 2023 Vol.91 No.1/2/3, pp.5 - 20

Received: 29 Sep 2021
Accepted: 10 Jan 2022
Published online: 22 May 2023 *

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