Space‐and‐time‐synchronized simultaneous fully‐actuated vehicle tracking/formation using cascaded prescribed‐time control
Peng Wang, Ziyin Chen, Xiaobing Zhang, Shuzhi Sam Ge · International Journal of Robust and Nonlinear Control · 2021
Abstract In this article, we present a space‐and‐time‐synchronized control method with application to the simultaneous tracking/formation of fully‐actuated vehicles. In the framework of polar coordinates, through correlating and decoupling the reference/actual kinematics between the self vehicle and target, time and space are separated, controlled independently. As such, the specified state can be achieved at the predetermined terminal time, meanwhile, the relative trajectory in space is independent of time. In addition, for the stabilization before the predesigned time, a cascaded prescribed‐time control theorem is provided as the preliminary of vehicle tracking control. The obtained results can be directly extended to the simultaneous tracking/formation of multiple vehicles. Finally, numerical examples are provided to verify the effectiveness and superiority of the proposed scheme.