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- W2889403364 abstract "This paper considers the problem of forcing a fleet of three-dimensional (3D) multi-vehicles to land on the target sphere, track their own given circles, and maintain the desired lateral formation. Different from the Newton particle under consideration in the literatures, the dynamics of each vehicle is the nonholonomic model that is suffered to the external, time-invariant flow field. First, the dynamics of each nonholonomic vehicle in the Frenet frame is given by counting the total velocity. Then, based on our previous spherical extension, the surge acceleration, the pitch and yaw angular velocities are designed to achieve spherical formation tracking motion and ensure the condition of the vehicles’ model translation. Finally, the asymptotic stability of the control system is proved under the connected networks. Theoretical result is proved by the numerical examples." @default.
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- W2889403364 date "2018-06-01" @default.
- W2889403364 modified "2023-09-22" @default.
- W2889403364 title "Spherical Formation Tracking Control of Nonholonomic Vehicles in a Time-invariant Flow Field" @default.
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- W2889403364 doi "https://doi.org/10.1109/icca.2018.8444196" @default.
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