Distributed Robust Adaptive Gradient Controller in Distance-Based Formation Control With Exogenous Disturbance

Bae, Yoo-Bin; Lim, Young‐Hun; Ahn, Hyo‐Sung

doi:10.1109/tac.2020.3010244

Cited by 36 publications

(15 citation statements)

References 19 publications

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“…Compared with the works of [32,36,37], we propose the tightness of every edge in the multi-agent systems to solve the relationship of vehicle platoon and free car. Except for the rigid graph for the distance-based formation control [38], we add the traffic rule to constrain the formation geometry.…”

Section: Contributionsmentioning

confidence: 99%

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Distance‐based formation control for multi‐lane autonomous vehicle platoons

Zheng

Wang

Cao

et al. 2021

IET Control Theory & Appl

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This paper investigates the formation control of connected autonomous vehicle (CAV) platoons moving in multi lanes using distance-based formation control techniques based on rigid graphs and V2V communication. A hierarchical architecture is proposed to decompose the cooperative control into velocity planning and vehicle dynamic control. A new velocity planning method is first developed via a distributed distance-based formation controller so that each vehicle can keep platoon and change lane. Then, for the vehicle dynamics with nonlinearities and bounded disturbances, an adaptive controller is designed for regulating driving/braking torque to achieve the longitudinal velocity output of the velocity planner. The steering controller is designed to adjust the yaw angle of each vehicle to track and change lanes. Furthermore, stability analysis is conducted based on the Lyapunov theory. Finally, the applications of the proposed control designs to various of automated highway system (AHS) scenarios including lane-change, curve lane and platoon overtaking, are simulated and numerically analysed to validate the effectiveness of theoretical results.

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Section: Contributionsmentioning

confidence: 99%

“…Compared with the works of [32,36,37], we propose the we add the traffic rule to constrain the formation geometry. 2.…”

Section: Contributionsmentioning

confidence: 99%

Distance‐based formation control for multi‐lane autonomous vehicle platoons

Zheng

Wang

Cao

et al. 2021

IET Control Theory & Appl

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“…Then the authors of [15] proved the exponential stability of the formation system under a generalized controller. Besides the work mentioned above, different cases were studied for specific considerations, such as control with disturbances [11,[16][17][18], optimal formation control [19,20], and the formation control combined with flocking [21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Distance-Based Formation Control for Fixed-Wing UAVs with Input Constraints: A Low Gain Method

Yan

Wang

2022

Drones

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Due to the nonlinear and asymmetric input constraints of the fixed-wing UAVs, it is a challenging task to design controllers for the fixed-wing UAV formation control. Distance-based formation control does not require global positions as well as the alignment of coordinates, which brings in great convenience for designing a distributed control law. Motivated by the facts mentioned above, in this paper, the problem of distance-based formation of fixed-wing UAVs with input constraints is studied. A low-gain formation controller, which is a generalized gradient controller of the potential function, is proposed. The desired formation can be achieved by the designed controller under the input constraints of the fixed-wing UAVs with proven stability. Finally, the effectiveness of the proposed method is verified by the numerical simulation and the semi-physical simulation.

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“…Because of the wide applications in the control field [1][2][3][4][5][6], the consensus control of MASs gained more and more attentions. In recent years, quite a few methods have been reported to solve the consensus control problem of MASs, such as adaptive control [7,8] and sliding mode control [9,10].…”

Section: Introductionmentioning

confidence: 99%

“…at means the agents in the MASs may not communicate with their neighbors or update their control policies at the same time instant, and then, the communicate resources are saved. (2) In this paper, we give the stability analysis for the MASs under the event-triggered condition. It shows all agents in the discrete-time MASs will achieve consensus under the ET condition.…”

Section: Introductionmentioning

confidence: 99%

Event‐Triggered Adaptive Dynamic Programming Consensus Tracking Control for Discrete‐Time Multiagent Systems

et al. 2022

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This paper proposes a novel adaptive dynamic programming (ADP) approach to address the optimal consensus control problem for discrete-time multiagent systems (MASs). Compared with the traditional optimal control algorithms for MASs, the proposed algorithm is designed on the basis of the event-triggered scheme which can save the communication and computation resources. First, the consensus tracking problem is transferred into the input-state stable (ISS) problem. Based on this, the event-triggered condition for each agent is designed and the event-triggered ADP is presented. Second, neural networks are introduced to simplify the application of the proposed algorithm. Third, the stability analysis of the MASs under the event-triggered conditions is provided and the estimate errors of the neural networks’ weights are also proved to be ultimately uniformly bounded. Finally, the simulation results demonstrate the effectiveness of the event-triggered ADP consensus control method.

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Distributed Robust Adaptive Gradient Controller in Distance-Based Formation Control With Exogenous Disturbance

Cited by 36 publications

References 19 publications

Distance‐based formation control for multi‐lane autonomous vehicle platoons

Distance‐based formation control for multi‐lane autonomous vehicle platoons

Distance-Based Formation Control for Fixed-Wing UAVs with Input Constraints: A Low Gain Method

Event‐Triggered Adaptive Dynamic Programming Consensus Tracking Control for Discrete‐Time Multiagent Systems

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