Search

This paper presents a novel frequency-domain approach for path following problem, specifically designed to handle paths described by discrete data. The proposed algorithm utilizes the fast Fourier Transform (FFT) to process the discrete path data, enabling the construction of a non-singular guiding vector field. This vector field serves as a reference direction for the controlled robot, offering the ability to adapt to different levels of precision. Additionally, the frequency-domain nature of the vector field allows for the reduction of computational complexity and effective noise suppression. The efficacy of the proposed approach is demonstrated through a numerical simulation, and theoretical analysis provides an upper bound for the ultimate mean-square path-following error.

The present article advances the concept of a non-singular cooperative guiding vector field under a homotopy equivalence transformation. Firstly, the derivation of a guiding vector field, based on a non-singular vector field, is elaborated to navigate a transformed path from another frame. The existence of such vector fields is also deliberated herein. Subsequently, a coordination vector field derived from the guiding vector field is presented, incorporating an in-depth analysis concerning the impact of the vector field parameters. Lastly, the practical implementation of this novel vector field is demonstrated by its applications to 2-D and 3-D cooperative moving path following issues, establishing its efficacy., Comment: 12 pages, 12 figures, submitting to TAC at present

In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent uncertainties, and lack of neighboring velocity measurements are proposed. Furthermore, we show that the proposed method can be applied to the consensus control of uncertain robotic manipulators with velocity and control torque constraints. We rigorously prove that the velocity and control inputs stay within prespecified ranges by tuning design parameters a priori and that asymptotic consensus can be achieved through Lyapunov functions and fixed-time stability. Simulations are performed for symmetric and asymmetric constraints to show the efficiency of the theoretical findings., Comment: 8 pages, 2 figures