Distributed adaptive observer‐based output formation‐containment control for heterogeneous multi‐agent systems with unknown inputs

Zhang, Ya; Wen, Yaoyao; Chen, Guoxi; Chen, Yangyang

doi:10.1049/iet-cta.2020.0465

Cited by 11 publications

(2 citation statements)

References 30 publications

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“…Considering the broad application prospects of containment control, it has been applicated in various multi-agent systems including linear multi-agent systems 7 , Euler-Lagrange systems 8 , unmanned aerial vehicle formation systems 9 , and USV formation systems 6,10 . In 11, a hybrid stop-go control protocol was proposed for the multi-agent system to investigate the leader-follower containment control problem under fixed topology.…”

Section: Introductionmentioning

confidence: 99%

Fully distributed formation-containment control for multiple unmanned surface vehicles with intermittent dynamic event-triggered protocols

Zhang

Huang

Zhou

et al. 2023

Preprint

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This paper investigates the layered formation-containment control problem for multiple unmanned surface vehicles (USVs) with intermittent dynamic event-triggered protocols. Initially, the formation tracking controllers are designed for leaders to form the desired formation configuration along the reference trajectory in the first layer. In the proposed controllers, the intermittent framework is introduced to guarantee the stability of systems subject to inevitable factors including cyber-attacks or equipment constraints. Moreover, under the above intermittent framework, the dynamic event-triggered mechanism (DETM) is adopted to reduce the update frequency of control signals with positive minimum inter-event time (MIET) guarantees. Then, the containment controllers are developed for followers to converge to the convex hull spanned by leaders in the second layer. Besides, to remove the controllers’ dependency on global information, fully distributed thought is adopted in both layers. Finally, the theoretical analysis and simulation results are provided to evaluate the effectiveness of the proposed control scheme.

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Section: Introductionmentioning

confidence: 99%

Fully distributed formation-containment control for multiple unmanned surface vehicles with intermittent dynamic event-triggered protocols

Zhang

Huang

Zhou

et al. 2023

Preprint

View full text Add to dashboard Cite

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“…It is worth noting that most of the existing research focuses on the asymptotic convergence of multi-agent systems 20 , 25 . In practical applications, multi-UAV systems require fast response.…”

Section: Introductionmentioning

confidence: 99%

Distributed time-varying out formation-containment tracking of multi-UAV systems based on finite-time event-triggered control

Cai

Zhu

Yao

2022

Sci Rep

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Considering the limited communication resources and slow convergence speed of multi-unmanned aerial vehicle (UAV) systems, this paper presents a finite-time even-triggered control framework for multi-UAV systems to achieve formation-containment tracking control. First, a virtual leader with time-varying output is introduced so that the trajectory of the whole system can be manipulated in real time. Second, the finite-time control enables that the systematic error converge to a small neighborhood of origin in finite time. Third, in order to save communication resources, an event-triggering function is developed to generate the control event sequences, which avoids continuous update of the controller. Rigorous proof shows the finite-time stability of the proposed control algorithm, and Zeno behavior is strictly excluded for each UAV. Finally, some numerical simulations are given to verify the effectiveness of the proposed controllers.

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Time‐varying output group formation‐containment tracking control for heterogeneous multi‐agent system

Han,

Zhang,

Zhao

2024

Asian Journal of Control

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The time‐varying output group formation‐containment tracking (TVOGFCT) problem of discrete‐time heterogeneous multi‐agent system (MAS) is investigated in this paper. Assuming the MAS consists of multiple tracking leaders, formation leaders, and followers, and all the agents are divided into several groups. Firstly, to estimate the convex combination of tracking leaders in the same group, the distributed observers are designed for the formation leaders, and the observer‐based formation tracking protocols are also presented to make formation leaders realize the desired time‐varying group formation while tracking the convex combination of tracking leaders. Then, two types of observers are proposed to estimate the convex combination of tracking information and formation functions, based on which the containment tracking protocols are designed for the followers of each group. By using output regulation theory and Lyapunov theory, it is illustrated that the designed protocols can make the MAS realize TVOGFCT. Finally, the simulation results prove the correctness of the theoretical analysis.

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Distributed adaptive observer‐based output formation‐containment control for heterogeneous multi‐agent systems with unknown inputs

Cited by 11 publications

References 30 publications

Fully distributed formation-containment control for multiple unmanned surface vehicles with intermittent dynamic event-triggered protocols

Fully distributed formation-containment control for multiple unmanned surface vehicles with intermittent dynamic event-triggered protocols

Distributed time-varying out formation-containment tracking of multi-UAV systems based on finite-time event-triggered control

Time‐varying output group formation‐containment tracking control for heterogeneous multi‐agent system

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