科研之友
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摘要
This article deals with the problem of driving a family of second-order nonlinear agents to land on a sphere and formation tracking a set of given orbits on the sphere. A novel geometric extension called the concentric compression method is proposed to give a solution to spheral landing and then combines with the control of spherical meridian and parallel to achieve formation motion along given orbits on the sphere. The asymptotic stability of system is proved by Lyapunov-based method when the communication topology is bidirectional. The effectiveness of the analytical result is verified by a numerical simulation.
