Distributed adaptive time-varying formation for multi-agent systems with general high-order linear time-invariant dynamics

Wang, Rui; Dong, Xiwang; Li, Qingdong; Zhang, Ren

doi:10.1016/j.jfranklin.2016.03.016

Cited by 52 publications

(26 citation statements)

References 39 publications

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“…In [10][11][12], the communication topology was known to compute the gain matrix of the formation controller. In [13], the distributed TVF control problem was studied and an adaptive mechanism was proposed in which the global information of the topology was not useful. Wang et al [14] constructed a distributed observer to estimate disturbance and proposed a control protocol based on the observer for MASs, in which nonlinearity and disturbances were considered.…”

Section: Introductionmentioning

confidence: 99%

“…The formation control protocols rely on the state or output information of neighboring nodes that are obtained by communication. Notably, most of the existing researches assume that communication among the systems is continuous and each agent can obtain information of neighboring nodes at each instant of time [8][9][10][11][12][13]. However, this assumption did not agree with the actual case in some physical systems.…”

Section: Introductionmentioning

confidence: 99%

“…(1) Event-triggered protocol has been designed without needing continuous communication for triggering condition monitoring. In [10][11][12][13], the expected formation protocols were of continuous time, which required continuous communication.…”

Section: Introductionmentioning

confidence: 99%

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Distributed time-varying formation control with uncertainties based on an event-triggered mechanism

Bai

Dong

et al. 2021

Sci. China Inf. Sci.

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This paper investigates the distributed time-varying formation (TVF) problems for general linear multi-agent systems (MASs) subject to matched bounded uncertainties based on an adaptive event-triggered mechanism. A TVF protocol was designed with an event-triggered mechanism by introducing adaptive weights into the formation control protocol and triggering condition, and the large chattering phenomenon was avoided by the σ-modification adaptive law. According to the Lyapunov stability theory, proof has been established that the MASs in the presence of uncertainties can realize the expected formation that satisfies the given feasible condition. Finally, an example is provided to verify the effectiveness of the proposed algorithm.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Distributed time-varying formation control with uncertainties based on an event-triggered mechanism

Bai

Dong

et al. 2021

Sci. China Inf. Sci.

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“…In fact, several tasks may benefit from solutions of formation control, such as load transportation with cooperative robots to move flexible payloads [10]. Different formation control scenarios have been investigated such as the ones incorporating, but not limited to, time-varying formations [11,12,13,14], formations with multiple leaders [15,16,17], switching network topologies [18,19,20], time-delays [21,22], etc. Stochastic switching topologies with time-varying delays have also been considered in [23].…”

Section: Introductionmentioning

confidence: 99%

Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

Savino

Pimenta

Shah

et al. 2020

Journal of the Franklin Institute

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This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bodies. The dual quaternion algebra is used to model the agents' poses and also in the distributed control laws, making the proposed technique easily applicable to time-varying formation control of general robotic systems. The proposed pose consensus protocol has guaranteed convergence when the interaction among the agents is represented by directed graphs with directed spanning trees, which is a more general result when compared to the literature on formation control. In order to illustrate the proposed pose consensus protocol and its extension to the problem of formation control, we present a numerical simulation with a large number of free-flying agents and also an application of cooperative manipulation by using real mobile manipulators.the multi-agent system asymptotically achieves formation if and only if the graph G describing the network topology has a directed spanning tree and vec 8 u x,i is in the range space of J w,i . 2Proof. First we prove that vec 8 u x,i is in the range space of J w,i if and only if vec 8 uConversely, if J w,i J † w,i vec 8 u x,i = vec 8 u x,i then ∃v J † w,i vec 8 u x,i such that J w,i v = vec 8 u x,i , which implies that vec 8 u x,i ∈ range J w,i . Hence,

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“…In order to overcome the limitation of requiring global information of the interaction topologies, distributed adaptive control methods have been developed by researchers in recent years, which only rely on local information and information from its neighbors. The distributed adaptive control protocol proposed in [13] requires a fixed undirected communication graph, which is not robust and reliable when communication failure occurs. Due to the presence of communication channel disconnection in practical application, it is meaningful to study time-varying formation control with switching directed interaction topologies of networked systems.…”

Section: Introductionmentioning

confidence: 99%

Cooperative Adaptive Time-Varying Formation Tracking for Multi-Agent Systems with LQR Performance Index and Switching Directed Topologies

Lanzon

2018

2018 IEEE Conference on Decision and Control (CDC)

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This paper presents a novel distributed adaptive time-varying formation tracking protocol for general linear multi-agent systems. In contrast to the existing distributed methods that require global information of the interaction graph, the proposed control strategy is fully distributed such that each agent only requires its own information and the information from its neighbors through switching directed communication networks. Then, an algorithm to determine the control parameters is presented, where feasible formation condition for the followers to accomplish the desired timevarying formation tracking is provided. Furthermore, the proposed strategy is also guaranteed to achieve an optimal control performance index by using the inverse optimal approach. Simulation results are provided to verify the effectiveness of the proposed strategy.

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Distributed adaptive time-varying formation for multi-agent systems with general high-order linear time-invariant dynamics

Cited by 52 publications

References 39 publications

Distributed time-varying formation control with uncertainties based on an event-triggered mechanism

Distributed time-varying formation control with uncertainties based on an event-triggered mechanism

Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

Cooperative Adaptive Time-Varying Formation Tracking for Multi-Agent Systems with LQR Performance Index and Switching Directed Topologies

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