Coordinated flowfield adaptative estimation for spherical formation tracking motion

摘要

This paper considers the cooperative control problem of second-order agents formation tracking a set of given curves on spheres when each agent suffers an unknown spatiotem-poral flowfield. The flowfield under consideration is composed of three known base vectors and the unknown corresponding coefficients. A novel coordinated adaptive estimator is proposed to estimate the unknown flow coefficients based on the neighbor to neighbor information. Adaptive backstepping, the geometric extension design and consensus are combined to design the robust spherical formation tracking control law. The effectiveness of the analytical results is verified by numerical simulations.