提出一种新型速度反馈控制，让跟随者稳定保持与领航者并行
On Feedback Speed Control for a Planar Tracking
- 结合恒定方位转向策略，设计速度反馈控制律
- 领航者转向已知时系统渐近稳定，未知时具输入到状态稳定性
- 周期性转向下跟随者将收敛至同周期轨道，适用于多智能体集群
本文研究领航者与跟随者之间的平面跟踪问题。提出一种新型反馈速度控制律，配合恒定方位转向策略，以维持两者并行队形。证明当领航者转向信息已知时，闭环系统具有渐近稳定性；当领航者转向不可获知时，系统对领航者转向输入仍具输入到状态稳定性。进一步表明，若领航者转向呈周期性，跟随者将渐近收敛至同周期的轨迹。通过数值仿真与移动机器人实验验证了上述结果。最后，将两智能体控制律扩展至N智能体链式网络，展示了其在生物与工程集群中方向信息传播的可扩展性。
原文摘要 · Abstract (English)
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents. We prove that the proposed control yields asymptotic stability of the closed-loop system when the steering of the leader is known. For the case when the leader's steering is unavailable to the follower, we show that the system is still input-to-state stable with respect to the leader's steering viewed as an input. Furthermore, we demonstrate that if the leader's steering is periodic, the follower will asymptotically converge to a periodic orbit with the same period. We validate these results through numerical simulations and experimental implementations on mobile robots. Finally, we demonstrate the scalability of the proposed approach by extending the two-agent control law to an N-agent chain network, illustrating its implications for directional information propagation in biological and engineered flocks.
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