Rendering compact formation and trajectory tracking for cyber unmanned ground vehicles

This paper considers the cooperative control problem for the unmanned ground vehicle swarm system with cyber interference. Each vehicle in the system is intelligent and connected with each other via networks. The cyber security issue is inevitable and vital in the control design for the swarm system. Taking account of the cyber interference and system uncertainty, we explore the cooperative control for the unmanned ground vehicle swarm system. In order to describe the behaviors of mutual attraction, repulsion and overall trajectory tracking in a mathematical manner, we abstract the integrated potential function, thereby the kinematic model. Treating the mathematical model as the system constraint and decomposing the system uncertainty, we propose a class of cooperative adaptive robust controls to assure that all the unmanned ground vehicles follow the constraint to move. Four major system performances are achieved: (i) global stability (i.e., uniform boundedness and uniform ultimate boundedness), (ii) compact formation, (iii) cooperative hunting, (iv) trajectory tracking.