Angle Smooth-Switching Strategy for Dubins-Vehicle Cyclic Pursuit Problem

Cyclic pursuit offers a simple and effective form for circular formation, wherein each vehicle interacts solely with its immediate predecessor. This paper investigates the cyclic pursuit problem of Dubins vehicles characterized by nonlinear kinematics and constant speed. The study focuses on achieving stationary formations around a fixed center, with angular speeds serving as the exclusive control inputs. To achieve this, a two-stage controller is developed. First, a novel relative-distance-based angle smooth-switching strategy is proposed, through which control law chattering caused by constant switching strategies is effectively reduced. Second, a finite-time angle tracking law is designed, enabling the desired velocity heading angle to be tracked by each agent. The effectiveness of the proposed strategy is demonstrated through simulation results, with the capability to establish both clockwise and counterclockwise rotating formations being confirmed.