Distributed rendezvous and consensus control of multiple unicycle-type vehicles under directed graphs

This paper addresses the distributed rendezvous problem and consensus problem of multiple unicycle-type vehicles under directed graphs. A new distributed control structure, which can solve the rendezvous problem and consensus problem under directed graph, is proposed. Using the relative positions and constructed intermediate attitude, the rendezvous controller of multiple unicycle-type vehicles is proposed under directed graph. Thereafter, based on the structure of rendezvous controller, the consensus problem of multiple unicycle-type vehicles with the given desired heading and linear speed is solved. The stable analyses of rendezvous controller and consensus controller are also provided. Finally, the numerical simulations are provided to validate the effectiveness of the proposed controllers.