Connectivity maintenance and distributed tracking for double‐integrator agents with bounded potential functions

Lin, Wei; Wang, Xiaofan; Hu, Xiaoming

doi:10.1002/rnc.3105

Cited by 14 publications

(13 citation statements)

References 26 publications

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“…Because proxy damping gains are small, the agents move away from their final configuration initially. However, the MAS reaches consensus without breaking any edge eventually, see Figure 8 (b) Coordination by (32). Figure 8.…”

Section: B Euler-lagrange Mas-smentioning

confidence: 99%

Connectivity-Preserving Synchronization of Time-Delay Euler–Lagrange Networks With Bounded Actuation

Yuan

Shi

Constantinescu

2021

IEEE Trans. Cybern.

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This paper investigates the impact of bounded actuation on the connectivity-preserving consensus of two classes of multi-agent systems, with kinematic agents and with Euler-Lagrange agents. The investigation establishes that: (1) there exists a class of gradient-based controls which drive kinematic multi-agent systems to connectivity-preserving consensus even if they saturate; (2) actuator saturation restricts the initial states from which Euler-Lagrange multi-agent systems can be synchronized while preserving their local connectivity; (3) Euler-Lagrange multi-agent systems with unbounded actuation can achieve connectivity-preserving consensus without velocity measurements or exact system dynamics; and (4) a proposed indirect coupling control strategy drives Euler-Lagrange multi-agent systems with limited actuation and starting from rest to connectivitypreserving consensus without requiring velocity measurements and including in the presence of uncertain dynamics and timevarying delays. consensus of second-order MAS-s. This paper will show that the answer depends on the initial state of the MAS. At the communications level, recurrent proximity maintenance [22]-[24], switching graphs [44]-[46], directed graphs [21] and intermittent algebraic connectivity estimators [47], [48] tackle threats to connectivity due to limited agent communication ranges. Threats due to time-varying communication delays are considered only for attitude synchronization [49], for Euler-Lagrange MAS-s with uncertain parameters [50] and for Euler-Lagrange MAS-s without velocity measurements [51]. The dangers posed to the connectivitypreserving consensus of Euler-Lagrange MAS-s by combined communication delays and limited actuation are unclear. This paper will show how to overcome those combined dangers for Euler-Lagrange MAS-s that start from rest even if they have uncertain dynamics and only position measurements.The paper contributes to research on connectivity-preserving consensus of MAS-s with bounded actuation as follows:• First, by regarding saturated actuation as scaling of the

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Section: B Euler-lagrange Mas-smentioning

confidence: 99%

Connectivity-Preserving Synchronization of Time-Delay Euler–Lagrange Networks With Bounded Actuation

Yuan

Shi

Constantinescu

2021

IEEE Trans. Cybern.

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“…where 0 v is the desired velocity, and 0 v f is an acceleration function which satisfies Lipschitz assumption [27]. Then the cooperative tracking control problem of the multi-NMR system is to design …”

Section: Distributed Communication Graph Theorymentioning

confidence: 99%

Intelligent Distributed Cooperative Control for Multiple Nonholonomic Mobile Robots Subject to Unknown Dynamics and External Disturbances

Luy¹

2018

JST

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This paper addresses an optimal cooperative tracking control method with disturbance rejection in the presence of no knowledge of internal dynamics for multi-nonholonomic mobile robot (NMR) systems. Unlike most existing methods, our method integrates kinematic and dynamic controllers into one using adaptive dynamic programming techniques based on the concept of differential game theory and neural networks, and is therefore entirely optimal. First, with the aim to reduce the computational complexity, the number of neural networks for each agent in the method is chosen to be less than one-third. Second, novel weight-tuning laws of the neural networks and online algorithms are proposed to approximate solutions of the HamiltonJacobi-Isaacs equations. By using Lyapunov theory, value functions and both cooperative control and disturbance laws are proved convergence to the approximately optimal values while the cooperative tracking errors and function approximation errors are uniformly ultimately bounded. Finally, the effectiveness of the proposed method is demonstrated by the results of the compared simulation and experiment on a multi-NMR system equipped with omnidirectional vision.

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“…It is assumed that a leader agent node generates the bounded smooth trajectory

q_{0} \in {double-struckR}^{n}

that holds

\begin{matrix} right left right left right left right left right left right left0.278em 2em 0.278em 2em 0.278em 2em 0.278em 2em 0.278em 2em 0.278em3pt \\ \{\begin{matrix} left1em4pt \\ {\dot{q}}_{0} = g_{q} (q_{0}) v_{0} \\ {\dot{v}}_{0} = f_{v 0} (q_{0}, v_{0}) \end{matrix} \end{matrix}

where

v_{0} \in {double-struckR}^{n - p}

is the desired velocity,

f_{v 0} false(q_{0}, v_{0} false) \in {double-struckR}^{n - p}

is the acceleration function which satisfies Lipschitz assumption [31] and

g_{q} false(q_{0} false) = S_{0} false(q_{0} false) \in {double-struckR}^{n \times false(n - p false)}

is well‐defined [19, 22]. The objectives of the distributed tracking control problem are to design control laws

τ_{i}

for (4) such that when

τ_{d i} = 0

, if each agent directly connects to his leader,

(∥∥, q_{i} false(t false) - q_{0} false(t false)) false\to 0

and

(∥∥, v_{i} false(t false) - v_{0} false(t false)) false\to 0

or directly connects to its neighbourhoods,

\forall j \in {double-struckN}_{i}

(∥∥, q_{i} false(t false) - q_{j} false(t false)) false\to 0

…”

Section: Theoretical Backgroundmentioning

confidence: 99%

Distributed optimal integrated tracking control for separate kinematic and dynamic uncertain non‐holonomic mobile mechanical multi‐agent systems

Tan

2017

IET Control Theory & Applications

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Connectivity maintenance and distributed tracking for double‐integrator agents with bounded potential functions

Cited by 14 publications

References 26 publications

Connectivity-Preserving Synchronization of Time-Delay Euler–Lagrange Networks With Bounded Actuation

Connectivity-Preserving Synchronization of Time-Delay Euler–Lagrange Networks With Bounded Actuation

Intelligent Distributed Cooperative Control for Multiple Nonholonomic Mobile Robots Subject to Unknown Dynamics and External Disturbances

Distributed optimal integrated tracking control for separate kinematic and dynamic uncertain non‐holonomic mobile mechanical multi‐agent systems

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