Parallel Formation Tracking for Nonholonomic Vehicles in Some Constrained Conditions

Author(s):  
Mingxiang Wang ◽  
Jinpeng Zhai ◽  
Zhiyong Geng ◽  
Xiuhui Peng
2018 ◽  
Vol 38 (5) ◽  
pp. 548-557 ◽  
Author(s):  
Guo Yi ◽  
Jianxu Mao ◽  
Yaonan Wang ◽  
Hui Zhang ◽  
Zhiqiang Miao

Purpose The purpose of this paper is to consider the leader-following formation control problem for nonholonomic vehicles based on a novel biologically inspired neurodynamics approach. Design/methodology/approach The interactions among the networked multi-vehicle system is modeled by an undirected graph. First, a distributed estimation law is proposed for each follower vehicle to estimate the state including the position, orientation and linear velocity of the leader. Then, a distributed formation tracking control law is designed based on the estimated state of the leader, where a bio-inspired neural dynamic is introduced to solve the impractical velocity jumps problem. Explicit stability and convergence analyses are presented using Lyapunov tools. Findings The effectiveness and efficiency of the proposed control law are demonstrated by numerical simulations and physical vehicle experiments. Consequently, the proposed protocol can successfully achieve the desired formation under connected topologies while tracking the trajectory generated by the leader. Originality/value This paper proposes a neurodynamics-based leader–follower formation tracking algorithm for multiple nonholonomic vehicles.


2020 ◽  
Vol 65 (8) ◽  
pp. 3639-3646 ◽  
Author(s):  
Mohamed Adlene Maghenem ◽  
Antonio Loria ◽  
Elena Panteley

2019 ◽  
Vol 11 (4) ◽  
pp. 1117 ◽  
Author(s):  
Daegyu Yang

In recent years, companies are challenged not only to develop market competencies but also to deal with environmental issues. Unlike larger companies equipped with abundant resources and sustainable capabilities, small- and medium-sized enterprises (SMEs) are under relatively constrained conditions to effectively deal with environmental concerns as well as market demands. This study attempts to examine a set of potential factors by which SMEs can overcome such limited conditions and bring novel and environmentally beneficial products to market through their innovative activities. Organization theories, such as organizational learning, social network theory, and new-institutional theory, provide a theoretical framework for this study that SMEs may utilize their resources and capabilities from internal, external, and institutional domains. The hypotheses are tested using the Korea Innovation Survey 2010. The analyses show that the likelihood of the market introduction of new and environmentally innovative products is increased not only when an SME makes more monetary investments on internal innovative activities and experiences more success in general innovation activities, but also when an SME inputs more monetary investments into the search for technological knowledge from the outside and utilizes more diverse external information sources. Interestingly, the findings demonstrate that monetary support from the government do not have significant impacts on an SME’s environmental innovation, while a non-monetary technological support system operated by government raises the likelihood of the market introduction of new and environmentally innovative products. Theoretical contributions and managerial implications are discussed.


2021 ◽  
Vol 111 ◽  
pp. 106549
Author(s):  
Jianhua Wang ◽  
Liang Han ◽  
Xiwang Dong ◽  
Qingdong Li ◽  
Zhang Ren

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