In this paper, we propose a novel formation controller for nonholonomic agents to form general parametric curves. First, we derive a unified parametric representation for both open and closed curves. Then, a leader-follower formation controller is designed to form the parametric curves. We consider directed communications and constant input disturbances rejection in the controller design. Rigorous Lyapunov-based stability analysis proves the asymptotic stability of the proposed controller. Detailed numerical simulations and experimental studies are conducted to verify the performance of the proposed method.

翻译：本文针对非完整智能体提出了一种新型编队控制器，使其能够形成一般参数曲线。首先，我们推导了开放曲线与闭合曲线的统一参数化表示。然后，设计了一种领航-跟随编队控制器以实现参数曲线的形成。控制器设计考虑了有向通信和恒定输入扰动抑制。基于严格Lyapunov的稳定性分析证明了所提控制器的渐近稳定性。通过详细的数值仿真与实验研究验证了所提方法的性能。