Flatness-based finite-time leader–follower formation control of multiple quadrotors with external disturbances

Ai, Xiaolin; Yu, Jianqiao

doi:10.1016/j.ast.2019.05.060

Cited by 44 publications

(25 citation statements)

References 38 publications

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“…It is known that many real complex systems can be decomposed into multiple independent subsystems described by (1) through differential flatness, such as flexible joint robots, quadrotors, and so forth. 20,21 Therefore, the proposed results given in the subsequent text can be straightly used to address the game problem of each independent subsystem such that the noncooperative games of the whole complex systems can be solved. Moreover, as the factors of limiting the system performance, input saturation and input delay appear in many engineering systems.…”

Section: Assumption 2 For Each Playermentioning

confidence: 99%

“…The initial values of the ESO and the ADO are randomly selected within the intervals [0, 1] and [20,40], respectively. The initial conditions of the adaptation gains i,j , i, j = 1, … , 6 are randomly selected within the interval (0, 5].…”

Section: Competition Among Energy Resources Of Generation Systemsmentioning

confidence: 99%

“…For instance, acceleration-actuated vehicles are commonly modeled as second-order systems and some underactuated systems, such as quadrotors, can be converted into high-order fully actuated ones via differential flatness theory. 20,21 Therefore, it has practical significance to study game problems for MASs with second-or high-order dynamics. In Reference 22, input saturation was considered for noncooperative games with double-integrator dynamics.…”

Section: Introductionmentioning

confidence: 99%

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Distributed adaptive Nash equilibrium seeking and disturbance rejection for noncooperative games of high‐order nonlinear systems with input saturation and input delay

Wang

2021

Intl J Robust & Nonlinear

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This article aims to investigate Nash equilibrium seeking problems for noncooperative games played by high-order nonlinear multiagent systems subject to input saturation, input delay, and external disturbances. Based on the gradient play technique, an adaptive Nash equilibrium seeking algorithm is designed in a distributed fashion via backstepping, where a fixed-time sliding mode observer is used to tackle the problem of "explosion of terms." In the proposed algorithm, an extended-state observer and an adaptive distributed observer are included for state/disturbance estimates and information sharing, respectively. Detailed convergence results are presented by leveraging Lyapunov stability theory. Finally, the effectiveness of the proposed approach is numerically verified through simulation results.

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Section: Assumption 2 For Each Playermentioning

confidence: 99%

Section: Competition Among Energy Resources Of Generation Systemsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Distributed adaptive Nash equilibrium seeking and disturbance rejection for noncooperative games of high‐order nonlinear systems with input saturation and input delay

Wang

2021

Intl J Robust & Nonlinear

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“…Recent years have witnessed considerable developments of consensus of multi‐agent systems 1 . The driving force behind the research on this problem partly comes from its wide applications in sensor networks, 2 UAV formation, 3 and salvo attack of missiles 4 . The leaderless consensus and the leader‐follower consensus are two fundamental problems in this area, which have been widely investigated in the existing works 5‐8 and are also the focus of this article.…”

Section: Introductionmentioning

confidence: 98%

Distributed fixed‐time event‐triggered consensus of linear multi‐agent systems with input delay

Wang

2021

Intl J Robust & Nonlinear

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This article investigates the distributed fixed-time event-triggered consensus problem for linear multi-agent systems with input delay. The Artstein-Kwon-Pearson reduction approach is used to convert the delay-dependent system to a delay-free one. Based on the delay-free system, two distributed event-triggered protocols are designed based on local information exchange to address the leaderless consensus and the leader-follower consensus problems. In the proposed consensus protocols, both continuous controller updates and continuous communication as well as the Zeno behavior are successfully excluded. Detailed convergence analysis demonstrates that the closed-loop system is fixed-time stable regardless of the initial conditions.Finally, some simulation examples are provided to validate the theoretical results. K E Y W O R D Sevent-triggered consensus, fixed-time convergence, input delay, multi-agent systems INTRODUCTIONRecent years have witnessed considerable developments of consensus of multi-agent systems. 1 The driving force behind the research on this problem partly comes from its wide applications in sensor networks, 2 UAV formation, 3 and salvo attack of missiles. 4 The leaderless consensus and the leader-follower consensus are two fundamental problems in this area, which have been widely investigated in the existing works [5][6][7][8] and are also the focus of this article. Convergence time is an important performance index for multi-agent consensus from a practical point of view. Indeed, designing consensus protocols with finite-time stability, instead of asymptotic stability, contributes to better performance in higher precision, stronger robustness, and faster convergence rate. 9 However, lack of uniform boundedness of the settling time function regardless of the initial conditions restricts the practical applications of the existing finite-time consensus algorithms. 10,11 As an extension of the finite-time stability, the fixed-time stability, first referred in Reference 12, guarantees the settling time to be globally uniformly bounded regardless of the initial conditions. To this end, much effort has been made toward achieving fixed-time multi-agent consensus for first-or second-order systems. [13][14][15] Moreover, output-feedback based distributed algorithms were designed in References 16-18 to achieve the fixed-time consensus of second-order systems. Compared with first-or second-order systems, it is known that high-order systems are more attractive but technically challenging. With this in mind, the authors of References 19-22 considered the fixed-time consensus problem for multi-agent systems with high-order integrator-type dynamics, and the results concerning robust fixed-time consensus with parametric uncertainties were presented in References 23,24. In addition, the bipartite fixed-time consensus problem 2526

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“…The objective of formation control is to guarantee multiple quadrotors to perform the dangerous and complex tasks in the hostile envi-ronment using local information only. Hence, it is of great significance to research the formation control problem of multiple quadrotors [3].…”

Section: Introductionmentioning

confidence: 99%

Multi-Layer Adaptive Finite Time Super Twisting Control for Quaternion-Based Quadrotor Formation With Obstacle Avoidance

et al. 2020

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This paper investigates the trajectory tracking problem of quadrotor formation with collision avoiding. The safety distributed control strategy is introduced for quaternion-based multiple quadrotors formation to avoid collision. Then, based on super-twisting and adaptive control method, a multiple adaptive finite time super-twisting control method (MAFTSTC) is proposed, which rarely relies on the information of the formation model. The purpose of the robust controller designed in the position loop and the attitude loop is to ensure that quadrotor formation tracks the desired trajectory and maintains formation configuration in finite time. The closed-loop system stability of the novel control method is verified through Lyapunov theory. Finally, compared with traditional finite time convergence (FTC) method and non-robustness control (NRC) method, the simulation results illustrate the effectiveness of the proposed control method.

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Flatness-based finite-time leader–follower formation control of multiple quadrotors with external disturbances

Cited by 44 publications

References 38 publications

Distributed adaptive Nash equilibrium seeking and disturbance rejection for noncooperative games of high‐order nonlinear systems with input saturation and input delay

Distributed adaptive Nash equilibrium seeking and disturbance rejection for noncooperative games of high‐order nonlinear systems with input saturation and input delay

Distributed fixed‐time event‐triggered consensus of linear multi‐agent systems with input delay

Multi-Layer Adaptive Finite Time Super Twisting Control for Quaternion-Based Quadrotor Formation With Obstacle Avoidance

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