This article investigates two kinds of leader-following formation control problems of second-order autonomous unmanned systems under directed topology, that are, the cases with constant velocity and time-varying velocity for the leader. First, the kinematical equation of autonomous unmanned systems is established according to some real scenarios. Second, by assuming the velocity of the leader is constant, a sufficient condition ensuring the formation control of autonomous unmanned systems is derived and some control parameters are suitably designed. Third, it is assumed that the velocity of leader is time-varying, and the formation controller with two parts is designed. The first part is intended to form the desired formation of all followers and the second part aims to reach the consensus of velocity. Some simulation examples are finally presented to verify the effectiveness of the obtained theoretical results.

本文研究了有向拓扑下二阶自治无人系统的两种跟随跟随的编队控制问题，即对于引导者具有恒定速度和时变速度的情况。首先，根据实际情况建立了自主无人系统的运动学方程。其次，通过假设引导者的速度恒定，得出确保自主无人系统的编队控制的充分条件，并适当设计一些控制参数。第三，假设前导速度是随时间变化的，设计了由两部分组成的编队控制器。第一部分旨在形成所有追随者的期望形式，第二部分旨在达成速度共识。