Adaptive Formation Control of Networked Robotic Systems With Bearing-Only Measurements

Li, Xiaolei; Chen, Wen; Chen, Ci

doi:10.1109/tcyb.2020.2978981

Cited by 119 publications

(54 citation statements)

References 51 publications

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“…For different agent models such as single integrators, double integrators and unicycles, Zhao et al (2019) designed a series of bearing-only control laws, which can enable followers to track leaders and reach the specified formation, and proved its stability by use of the standard Lyapunov method. Li et al (2021) solved the bearing-only formation control problem of the three-dimensional nonholonomic constraints system by transforming the three-dimensional nonholonomic model into Euler-Lagrange-like form and using the back-stepping design method. Zhao et al (2021) considered the system with local reference frame, they synchronized the orientations of followers with the leader first, and then adopted bearing-only control law to solve the formation control problem of doubleintegrators without global reference coordinates.…”

Section: Introductionmentioning

confidence: 99%

Bearing-Only Adaptive Formation Control Using Back-Stepping Method

Wang

et al. 2021

Front. Control Eng.

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In this paper, the bearing-only formation control problem of a class of second-order system with unknown disturbance is investigated, where the control law merely depends on the relative bearings between neighboring agents. In order to offset the effect of unknown disturbance on the system, adaptive estimation is introduced. In the design of the control law, the back-stepping design method and the negative gradient method are used. The Barbalat’s lemma is used to prove the global stability of the system. The simulation results prove the effectiveness of the proposed formation control algorithm.

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Section: Introductionmentioning

confidence: 99%

Bearing-Only Adaptive Formation Control Using Back-Stepping Method

Wang

et al. 2021

Front. Control Eng.

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“…There are enormous and efficient researches on displacement-based distributed formation control methods with local and global convergence results [8][9][10][11]. However, in some applications, it is limited by the sensor capability such that we need to use the distances [5,[12][13][14] or bearings [2,[15][16][17] or both measurements [18][19][20][21][22] to achieve desired formation shapes. The challenging problem for distance-based methods is to achieve global stability of the desired formation due to the absence of an available common orientation sense.…”

Section: Introductionmentioning

confidence: 99%

Distributed Event-Triggered Approach for Multi-Agent Formation Based on Cooperative Localization with Mixed Measurements

Lin

Sun

2021

Electronics

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This paper concentrates on multi-agent formation control problems under mixed measurements of distance and bearing. Towards this objective, a distributed event-triggered estimation-based control framework is developed such that only at necessary time instants, the event for estimation (namely, cooperative localization among a subgroup of agents) is triggered to recover relative position information by utilizing a mixed distance and bearing measurements from different agents. Firstly, it is shown by using the stiffness theory that a subgroup of agents are capable of recovering relative position information if a sufficient number of independent distance and range measurements are available. Secondly, a distributed event-triggered mechanism is presented for achieving an affine formation control, which can be implemented in an asynchronous manner and also ensures Zeno-free behavior. Simulation studies are provided to demonstrate the effective performance of the proposed approach.

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“…Consensus is a basic requirement for coordinated control of distributed multiagent systems (MASs). It has witnessed remarkable progress due to its broad and potential applications in mobile robots, formation control of unmanned systems, and power systems, for example, References 1‐8 and the references therein. In a typical consensus design, each agent updates its controller by continuously measuring the states or outputs of its neighbors by a wireless network 9‐11 .…”

Section: Introductionmentioning

confidence: 99%

Event‐based resilience to DoS attacks on communication for consensus of networked Lagrangian systems

Chen

Lyu

et al. 2020

Intl J Robust & Nonlinear

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Summary In this article, we consider the resilience analysis of the even‐based consensus control of networked Lagrangian systems under denial‐of‐service (DoS) attacks, which are usually implemented by the attackers to block the communication channels. Comparing with the linear cyber‐physical systems, the secure control of the networked Lagrangian systems is more complex and challenging, especially under the conditions of asymmetry communication and discontinuous control. To this end, an event‐based controller is first designed for consensus control of networked Lagrangian systems in the absence of DoS attacks. Sufficient conditions are given to stabilize the closed‐loop systems. Then the resilience analysis is presented for the event‐based controller under DoS attacks. Some conditions associated with the DoS duration and frequency are proposed for the control parameters against the attacks. Then Zeno behaviors are proved to be nonexistent in the proposed control scheme. An algorithm is also given to guide the control design.

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Adaptive Formation Control of Networked Robotic Systems With Bearing-Only Measurements

Cited by 119 publications

References 51 publications

Bearing-Only Adaptive Formation Control Using Back-Stepping Method

Bearing-Only Adaptive Formation Control Using Back-Stepping Method

Distributed Event-Triggered Approach for Multi-Agent Formation Based on Cooperative Localization with Mixed Measurements

Event‐based resilience to DoS attacks on communication for consensus of networked Lagrangian systems

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