What is it about?

Time-varying formation tracking control for multiple vehicles has many potential applications only when the tracked leader vehicle can move anywhere it wants. So it is the same as containment control with multiple leader vehicles moving anywhere they want. Moving anywhere they want means the vehicles have nonzero input signals. This is the key influence of this paper which has real applications in reality.

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Why is it important?

All the vehicles have nonzero inputs. The work in this paper can also reduce to consensus tracking with a real leader, time-varying formation tracking with a real leader or containment control with multiple real leaders. And no global information of the system is needed by the adoption of adaptive observers. We also proposed a new format of time-varying formation shapes. How to improve the convergence rate is discussed, too.


I hope this article makes people think more about applications in reality when beginning a new research direction. Try to find real unsolved problems and give answers to the research community. More than anything else, and if nothing else, I hope you find this article thought-provoking.

Aalto Universtiy

Read the Original

This page is a summary of: Fully distributed time-varying formation-containment control for large-scale nonholonomic vehicles with an unknown real leader, International Journal of Control, June 2019, Taylor & Francis, DOI: 10.1080/00207179.2019.1626996.
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