Disturbance Attenuation in Distance-Based Formation Control: A Linear Matrix Inequality Approach

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

doi:10.1109/ccta.2018.8511097

Cited by 12 publications

(9 citation statements)

References 17 publications

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“…Note that unmodeled dynamics and exogenous disturbances are not considered in the system model . It is noted that Bae et al addressed the issue of disturbance attenuation in distance‐based formation control for a group of single integrators in 2D space under an undirected complete graph. Inspired by this, studying the robustness of the proposed scheme with respect to these uncertainties is an interesting problem in distance‐based formation control under general undirected graph network topology.…”

Section: Discussionmentioning

confidence: 99%

“…Based on the virtual gradient control law in (14) and the transformation in (16), linearization is realized by designing the linear and angular velocity as in (17) and (25). Unlike the controller design without linearization in the works of Zhao et al, 19,20 which can only ensure formation shape stabilization, distance-based formation maneuvering in this work can be achieved with the modified gradient based controller design.…”

Section: Modified Gradient Controller Designmentioning

confidence: 99%

“…Unlike the controller design without linearization in the works of Zhao et al, 19,20 which can only ensure formation shape stabilization, distance-based formation maneuvering in this work can be achieved with the modified gradient based controller design. (1), under the control of designed linear and angular velocities respectively in (17) and (25) with the estimator (5), if (0) ∈ (r 0 ) with r 0 > 0 and the design parameters are according to the conditions that…”

Section: Modified Gradient Controller Designmentioning

confidence: 99%

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Adaptive estimator‐based formation maneuvering control of nonholonomic mobile robots

Zou

Chen

Guan

2020

Adaptive Control & Signal

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Summary In this paper, the formation maneuvering control problem for a group of nonholonomic mobile robots with the objective of having a desired formation shape described by distances between pairs of robots and an overall maneuvering velocity is studied. The desired maneuvering velocity, which can be constant or time‐varying, is only known to a set of agents. A control scheme consisting of an adaptive estimator and a modified gradient control law is proposed to solve this problem. The adaptive estimator is designed to estimate the desired maneuvering velocity in either constant or time‐varying situation. Utilizing the estimated velocity, a modified gradient control law is designed based on the nonholonomic kinematic model so that the objective is achieved. Local asymptotic convergence of the overall system is guaranteed by choosing appropriate control parameters. The effectiveness of the proposed control scheme is demonstrated through simulation results.

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Section: Discussionmentioning

confidence: 99%

Section: Modified Gradient Controller Designmentioning

confidence: 99%

Section: Modified Gradient Controller Designmentioning

confidence: 99%

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Adaptive estimator‐based formation maneuvering control of nonholonomic mobile robots

Zou

Chen

Guan

2020

Adaptive Control & Signal

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“…The existence of external disturbances that affect the agents dynamics is a significant issue of practical interest for multiagent formation applications. It is noteworthy to mention that in coordinate-free formation control problems, only a few recent works have taken into account external disturbances and uncertainties in agents dynamics [40], [45], [46], with these results only applying to local shape convergence. Finally, another crucial issue concerns the transient response of the multi-agent formations.…”

Section: Introductionmentioning

confidence: 99%

2-D Directed Formation Control Based on Bipolar Coordinates

Mehdifar¹,

Bechlioulis²,

Hendrickx³

et al. 2021

Preprint

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This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed performance control is employed to devise a decentralized control law that avoids singularities and introduces robustness against external disturbances while ensuring predefined transient and steady-state performance for the closed-loop system. Furthermore, it is shown that the proposed formation control scheme can handle formation maneuvering, scaling, and orientation specifications simultaneously. Additionally, the proposed control law is implementable in the agents' arbitrarily oriented local coordinate frames using only low-cost onboard vision sensors, which are favorable for practical applications. Finally, various simulation studies clarify and verify the proposed approach.

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“…It is noteworthy to mention that in distance-based formation control problems, none of the aforementioned works have taken into account external disturbances. Recently, [35] studied the disturbance attenuation problem with the LMI approach in distancebased formation control. However, its results depend on certain LMI feasibility tests, which are not favorable in practice and may increase complexity in the controller design.…”

Section: Introductionmentioning

confidence: 99%

Prescribed Performance Distance-Based Formation Control of Multi-Agent Systems (Extended Version)

Mehdifar,

Bechlioulis,

Hashemzadeh

et al. 2019

Preprint

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This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among neighboring agents are also handled by the appropriate design of certain performance bounds that constrain the inter-agent distance errors. As an extension to the proposed scheme, distance-based formation centroid maneuvering is also studied for disturbance-free agents, in which the formation centroid tracks a desired time-varying velocity. The proposed control laws are decentralized, in the sense that each agent employs local relative information regarding its neighbors to calculate its control signal. Therefore, the control scheme is implementable on the agents' local coordinate frames. Using rigid graph theory, input-to-state stability, and Lyapunov based analysis, the results are established for minimally and infinitesimally rigid formations in 2-D or 3-D space. Furthermore, it is argued that the proposed approach increases formation robustness against shape distortions and can prevent formation convergence to incorrect shapes, which is likely to happen in conventional distance-based formation control methods. Finally, extensive simulation studies clarify and verify the proposed approach.

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Disturbance Attenuation in Distance-Based Formation Control: A Linear Matrix Inequality Approach

Cited by 12 publications

References 17 publications

Adaptive estimator‐based formation maneuvering control of nonholonomic mobile robots

Adaptive estimator‐based formation maneuvering control of nonholonomic mobile robots

2-D Directed Formation Control Based on Bipolar Coordinates

Prescribed Performance Distance-Based Formation Control of Multi-Agent Systems (Extended Version)

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