Abstract In this paper, we present a framework for achieving circular formation of a two-dimensional moving target using a team of underactuated Omni-Directional Intelligent Navigator (ODIN) vehicles. The main goal is to ensure uniform circumnavigation of the moving target with prescribed radius, velocity and inter-vehicle spacing. In the formation, part of vehicle group is capable of obtaining information from the moving target. Distributed adaptive control laws are developed for the group of vehicles by merging the techniques of command filter and backstepping control. A robust controller is designed to compensate for the effect of non-smooth actuator saturation. With the proposed control, the convergence to a circular formation performance can be ensured in a finite time. Finally, numerical simulations are presented to show the effectiveness of the proposed formation scheme.

中文翻译：

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多个欠驱动 ODIN 车辆围绕移动目标的有限时间圆形编队

摘要在本文中，我们提出了一个框架，用于使用一组欠驱动的全向智能导航器（ODIN）车辆实现二维运动目标的圆形形成。主要目标是确保移动目标以规定的半径、速度和车辆间距均匀环绕。在编队中，部分车辆组能够从运动目标获取信息。通过合并命令过滤器和反步控制技术，为该组车辆开发了分布式自适应控制律。稳健的控制器旨在补偿非平滑致动器饱和的影响。通过所提出的控制，可以确保在有限时间内收敛到圆形编队性能。最后，