Distributed Fixed-Time Control for Leader-Steered Rigid Shape Formation With Prescribed Performance Article Swipe
Zhongchao Liang
,
Chunxiao Lyu
,
Mingyu Shen
,
Jing Zhao
,
Zhongguo Li
,
Zhengtao Ding
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.1109/tcyb.2024.3364146
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.1109/tcyb.2024.3364146
Resorting to the principle of rigid body kinematics, a novel framework for a multirobot network is proposed to form and maintain an invariant rigid geometric shape. Unlike consensus-based formation, this approach can perform both translational and rotational movements of the formation geometry, ensuring that the entire formation motion remains consistent with the leader. To achieve the target formation shape and motion, a distributed control protocol for multiple Euler-Lagrange robotic vehicles subject to nonholonomic constraints is developed. The proposed protocol includes a novel prescribed performance control (PPC) algorithm that addresses the second-order dynamics of the robotic vehicles by employing a combination of nonsingular sliding manifold and adaptive law. Finally, the effectiveness of the proposed formation framework and control protocol is demonstrated through the numerical simulations and practical experiments with a team of four robotic vehicles.
Related Topics
Concepts
Kinematics
Rigid body
Control theory (sociology)
Nonholonomic system
Protocol (science)
Computer science
Robotics
Invariant (physics)
Topology (electrical circuits)
Robot
Control (management)
Mathematics
Artificial intelligence
Mobile robot
Classical mechanics
Physics
Combinatorics
Pathology
Medicine
Alternative medicine
Mathematical physics
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/tcyb.2024.3364146
- OA Status
- green
- Cited By
- 6
- References
- 42
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4392251493
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4392251493Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1109/tcyb.2024.3364146Digital Object Identifier
- Title
-
Distributed Fixed-Time Control for Leader-Steered Rigid Shape Formation With Prescribed PerformanceWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2024Year of publication
- Publication date
-
2024-02-28Full publication date if available
- Authors
-
Zhongchao Liang, Chunxiao Lyu, Mingyu Shen, Jing Zhao, Zhongguo Li, Zhengtao DingList of authors in order
- Landing page
-
https://doi.org/10.1109/tcyb.2024.3364146Publisher landing page
- Open access
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YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://research.manchester.ac.uk/en/publications/59584b93-925b-44dd-9293-815403a6fffdDirect OA link when available
- Concepts
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Kinematics, Rigid body, Control theory (sociology), Nonholonomic system, Protocol (science), Computer science, Robotics, Invariant (physics), Topology (electrical circuits), Robot, Control (management), Mathematics, Artificial intelligence, Mobile robot, Classical mechanics, Physics, Combinatorics, Pathology, Medicine, Alternative medicine, Mathematical physicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
6Total citation count in OpenAlex
- Citations by year (recent)
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2025: 5, 2024: 1Per-year citation counts (last 5 years)
- References (count)
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42Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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