Fuzzy adaptive finite-time formation control of unmanned ground vehicles with performance and feasibility constraints
This paper investigates the problem of fuzzy adaptive finite-time formation tracking control for unmanned ground vehicles (UGVs) systems with two different constraints. By utilizing the distance tracking error between the actual trajectory and the desired trajectory of each UGV, as well as the const...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2025-07-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/00202940241278592 |
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| _version_ | 1849472689637425152 |
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| author | Lin Zhang Kewen Li Yongming Li |
| author_facet | Lin Zhang Kewen Li Yongming Li |
| author_sort | Lin Zhang |
| collection | DOAJ |
| description | This paper investigates the problem of fuzzy adaptive finite-time formation tracking control for unmanned ground vehicles (UGVs) systems with two different constraints. By utilizing the distance tracking error between the actual trajectory and the desired trajectory of each UGV, as well as the constraints of bearing angle, to achieve the performance and feasibility constraints, respectively. Furthermore, the fuzzy logic systems (FLSs) are used to approximate unknown nonlinear functions. Due to the limitations of the field of view and communication distance of UGVs, the controller is designed by using finite time stability theory and universal barrier function. Under the proposed control scheme, the stability of the closed-loop system can be ensured, feasibility and performance constraints are also achieved. Finally, the effectiveness of the proposed control design is verified through simulation results. |
| format | Article |
| id | doaj-art-99cd09a0d2f74d0f8075dc7944ca479b |
| institution | Kabale University |
| issn | 0020-2940 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Measurement + Control |
| spelling | doaj-art-99cd09a0d2f74d0f8075dc7944ca479b2025-08-20T03:24:26ZengSAGE PublishingMeasurement + Control0020-29402025-07-015810.1177/00202940241278592Fuzzy adaptive finite-time formation control of unmanned ground vehicles with performance and feasibility constraintsLin ZhangKewen LiYongming LiThis paper investigates the problem of fuzzy adaptive finite-time formation tracking control for unmanned ground vehicles (UGVs) systems with two different constraints. By utilizing the distance tracking error between the actual trajectory and the desired trajectory of each UGV, as well as the constraints of bearing angle, to achieve the performance and feasibility constraints, respectively. Furthermore, the fuzzy logic systems (FLSs) are used to approximate unknown nonlinear functions. Due to the limitations of the field of view and communication distance of UGVs, the controller is designed by using finite time stability theory and universal barrier function. Under the proposed control scheme, the stability of the closed-loop system can be ensured, feasibility and performance constraints are also achieved. Finally, the effectiveness of the proposed control design is verified through simulation results.https://doi.org/10.1177/00202940241278592 |
| spellingShingle | Lin Zhang Kewen Li Yongming Li Fuzzy adaptive finite-time formation control of unmanned ground vehicles with performance and feasibility constraints Measurement + Control |
| title | Fuzzy adaptive finite-time formation control of unmanned ground vehicles with performance and feasibility constraints |
| title_full | Fuzzy adaptive finite-time formation control of unmanned ground vehicles with performance and feasibility constraints |
| title_fullStr | Fuzzy adaptive finite-time formation control of unmanned ground vehicles with performance and feasibility constraints |
| title_full_unstemmed | Fuzzy adaptive finite-time formation control of unmanned ground vehicles with performance and feasibility constraints |
| title_short | Fuzzy adaptive finite-time formation control of unmanned ground vehicles with performance and feasibility constraints |
| title_sort | fuzzy adaptive finite time formation control of unmanned ground vehicles with performance and feasibility constraints |
| url | https://doi.org/10.1177/00202940241278592 |
| work_keys_str_mv | AT linzhang fuzzyadaptivefinitetimeformationcontrolofunmannedgroundvehicleswithperformanceandfeasibilityconstraints AT kewenli fuzzyadaptivefinitetimeformationcontrolofunmannedgroundvehicleswithperformanceandfeasibilityconstraints AT yongmingli fuzzyadaptivefinitetimeformationcontrolofunmannedgroundvehicleswithperformanceandfeasibilityconstraints |