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eess.SY2023
Roto-Translation Invariant Formation of Fixed-Wing UAVs in 3D: Feasibility and Control
Xiaodong He, Zhongkui Li, Xiangke Wang +1
This paper investigates the formation of fixed-wing UAVs in 3D, which communicate via a directed acyclic graph. Different from common formation problems, we consider the roto-trans…
eess.SY2019
Trajectory tracking control for nonholonomic mobile robots under arbitrary reference input
Xiaodong He, Zhiyong Geng
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The gr…
eess.SY2019
Mobile Formation Coordination and Tracking Control for Multiple Non-holonomic Vehicles
Xiuhui Peng, Zhiyong Sun, Kexin Guo +1
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an in…