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Neurodynamics-based leader-follower formation tracking of multiple nonholonomic vehicles

Guo Yi (College of Electrical and Information Engineering, Hunan University, Changsha, China, and National Engineering Laboratory for Robot Visual Perception and Control Technology, Changsha, China)
Jianxu Mao (College of Electrical and Information Engineering, Hunan University, Changsha, China, and National Engineering Laboratory for Robot Visual Perception and Control Technology, Changsha, China)
Yaonan Wang (College of Electrical and Information Engineering, Hunan University, Changsha, China, and National Engineering Laboratory for Robot Visual Perception and Control Technology, Changsha, China)
Hui Zhang (College of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha, China)
Zhiqiang Miao (Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong)

Assembly Automation

ISSN: 0144-5154

Article publication date: 10 May 2018

Issue publication date: 6 December 2018

Abstract

Purpose

The purpose of this paper is to consider the leader-following formation control problem for nonholonomic vehicles based on a novel biologically inspired neurodynamics approach.

Design/methodology/approach

The interactions among the networked multi-vehicle system is modeled by an undirected graph. First, a distributed estimation law is proposed for each follower vehicle to estimate the state including the position, orientation and linear velocity of the leader. Then, a distributed formation tracking control law is designed based on the estimated state of the leader, where a bio-inspired neural dynamic is introduced to solve the impractical velocity jumps problem. Explicit stability and convergence analyses are presented using Lyapunov tools.

Findings

The effectiveness and efficiency of the proposed control law are demonstrated by numerical simulations and physical vehicle experiments. Consequently, the proposed protocol can successfully achieve the desired formation under connected topologies while tracking the trajectory generated by the leader.

Originality/value

This paper proposes a neurodynamics-based leader–follower formation tracking algorithm for multiple nonholonomic vehicles.

Keywords

Acknowledgements

This work was supported by the National Natural Science Foundation of China(61573134, 61433016, 61471167), National Science and Technology Support Program of China(2015BAF13B00).

Citation

Yi, G., Mao, J., Wang, Y., Zhang, H. and Miao, Z. (2018), "Neurodynamics-based leader-follower formation tracking of multiple nonholonomic vehicles", Assembly Automation, Vol. 38 No. 5, pp. 548-557. https://doi.org/10.1108/AA-12-2017-184

Publisher

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Emerald Publishing Limited

Copyright © 2018, Emerald Publishing Limited