Pattern preserving path following of unicycle teams with communication delays

Research output: Contribution to journalArticlepeer-review


This paper examines the problem of pattern-preserving path following control for unicycle teams with time-varying communication delay. A key strategy used here introduces a virtual vehicle formation such that each real vehicle has a corresponding virtual vehicle as its pursuit target. Under an input-driven consensus protocol, the virtual vehicle formation is forced to stay close to the desired vehicle formation; and a novel controller design is proposed to achieve virtual leader tracking for each vehicle with constrained motion. It is shown that, by the proposed strategy, the pattern can be preserved if the formation speed is less than some computable value that decreases with increasing size of delay, and the exact desired formation pattern can be eventually achieved if this speed tends to zero.

Original languageEnglish (US)
Pages (from-to)1149-1164
Number of pages16
JournalRobotics and Autonomous Systems
Issue number9
StatePublished - Sep 2012


  • Connectivity
  • Multi-vehicle control
  • Nonlinear control
  • Potential function

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications


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