Formation Control of Heterogeneous Discrete-Time Nonlinear Multi-Agent Systems With Uncertainties

Li, Shaobao; Zhang, Jie; Li, Xiaolei; Wang, Feng; Luo, Xiaoyuan; Guan, Xinping

doi:10.1109/tie.2017.2674590

Cited by 107 publications

(45 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Cooperative output regulation of HMASs, which can be viewed as a generalization of the consensus tracking problems, has captured attention recently, where the heterogeneous follower subsystems need track the reference trajectory or reject the disturbance generated by the exosystem (ie, the leader). Based on the framework of cooperative output regulation, several formation control approaches for HMASs were presented in References . Specifically, time‐invariant formation tracking problems for discrete‐time HMASs with uncertainties were studied in Reference .…”

Section: Introductionmentioning

confidence: 99%

“…Based on the framework of cooperative output regulation, several formation control approaches for HMASs were presented in References . Specifically, time‐invariant formation tracking problems for discrete‐time HMASs with uncertainties were studied in Reference . In Reference , an output formation tracking (OFT) controller was proposed for linear heterogeneous agents based on the multiparty consensus strategy, where the desired formation is given by autonomous command generators.…”

Section: Introductionmentioning

confidence: 99%

“…It should be pointed out that the expected trajectory of the whole HMAS was generated by only one real/virtual leader in References . In some applications, there are multiple leaders for the followers to track .…”

Section: Introductionmentioning

confidence: 99%

“…Thus, it is significant to further study the formation tracking approaches without depending on the well‐informed follower assumption. In this case, all the followers cannot acquire the complete information of the multiple leaders, while the existing results for HMASs with one leader in References all required that at least one follower can get the leader's information directly. So these approaches in References cannot be applied to the multiple leaders simply.…”

Section: Introductionmentioning

confidence: 99%

“…In this case, all the followers cannot acquire the complete information of the multiple leaders, while the existing results for HMASs with one leader in References all required that at least one follower can get the leader's information directly. So these approaches in References cannot be applied to the multiple leaders simply. In addition, although multiple leaders were considered in the containment control for HMASs in References , all the followers cannot reach an agreement on the same convex combination of the leaders without the well‐informed follower assumption (see remark 4 in Reference ), and all the leaders were assumed to share identical dynamics.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Distributed adaptive formation tracking for heterogeneous multiagent systems with multiple nonidentical leaders and without well‐informed follower

Hua

Dong

et al. 2020

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

Summary This paper studies the time‐varying output formation tracking (OFT) problems for linear heterogeneous multiagent systems with multiple leaders, where both the followers and the leaders can have nonidentical dynamics and dimensions. The existing results on formation tracking with multiple leaders depend on the assumption that each follower is well‐informed or uninformed, where the well‐informed follower has all the leaders as its neighbor. To remove this assumption, a novel OFT approach is presented using a distributed observer scheme. Firstly, based on the local estimation and the interaction with neighboring followers, a fully distributed observer is designed for each follower to estimate the dynamical matrices and the states of multiple leaders without requiring the well‐informed follower assumption. The convergence of the distributed observer is proved by using Lyapunov theory. Then, an adaptive algorithm is proposed to solve the regulator equations in finite time based on the estimation of the leaders' dynamical matrices. Furthermore, the desired time‐varying output formation of each follower is generated by a local active exosystem. A time‐varying OFT protocol is presented using the estimated states of multiple leaders, the online solutions of the regulator equations, and the desired formation vector generated by the local exosystem. It is proved that the outputs of the followers can not only realize the expected formation shape but also track the predefined convex combination of multiple leaders. Finally, a simulation example is given to verify the theoretical results.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Distributed adaptive formation tracking for heterogeneous multiagent systems with multiple nonidentical leaders and without well‐informed follower

Hua

Dong

et al. 2020

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

Fixed time formation control for heterogeneous multi‐agent systems with partial unknown control directions

Hou

Liu

Lan

et al. 2022

Adaptive Control & Signal

View full text Add to dashboard Cite

This article studies the fixed-time time-invariant formation control problem for a class of uncertain nonlinear heterogeneous multi-agent systems (HMASs) with actuator faults and partial unknown control directions. Throughout the formation process, the possibility of actuator faults in systems and unknown control directions between individual agents are taken into account. Lipschitz conditions are introduced to identify the continuous uncertain nonlinear functions. To estimate the agents' local immeasurable states in HMASs, a distributed fixed-time observer is proposed, which can ensure that the states of follower agents are observed in fixed time. In addition, a distributed formation fault-tolerant control scheme will handle actuator faults. By designing a Nussbaum function, the problem of partial unknown control directions for HMASs can be solved in fixed time. Based on the fixed time stability theory, it is proved that the closed-loop stability and the tracking performance can be guaranteed in fixed time, that is, the achieved time is independent of any initial states. In the end, a simulation example is given to testify the effectiveness of the proposed control method. K E Y W O R D Sfault-tolerant control, fixed time partial unknown control directions, heterogeneous multi-agent systems, time-invariant formation

show abstract

Range observer‐based formation control for heterogeneous spatial underactuated vehicle networks

Wang

Nersesov

Ashrafiuon

2023

Adaptive Control & Signal

View full text Add to dashboard Cite

In this work, we solve the distributed formation control problem for heterogeneous spatial underactuated vehicle networks subject to switching topologies.We consider the spatial rigid body model of underwater and aerial vehicles with one translational actuator for propulsion and three rotational actuators, without any simplification. A distributed finite-time sliding mode observer is designed to estimate the ranges between vehicles based on the bearing angles, and thus, the control design does not require relative position or distance measurements.A coordinate transformation is proposed to define continuous reference velocity trajectories under switching topologies. Then, based on the cascade structure, a distributed formation protocol is presented which guarantees the global asymptotic convergence for the closed-loop system. The formation controller has a simple structure, requires only neighbor-to-neighbor information exchange, and all the measurements may be obtained using simple onboard sensors. Numerical simulations for a group of heterogeneous spatial underactuated vehicles including autonomous underwater vehicles and quadrotors are presented.

show abstract

Formation Control of Heterogeneous Discrete-Time Nonlinear Multi-Agent Systems With Uncertainties

Cited by 107 publications

References 23 publications

Distributed adaptive formation tracking for heterogeneous multiagent systems with multiple nonidentical leaders and without well‐informed follower

Distributed adaptive formation tracking for heterogeneous multiagent systems with multiple nonidentical leaders and without well‐informed follower

Fixed time formation control for heterogeneous multi‐agent systems with partial unknown control directions

Range observer‐based formation control for heterogeneous spatial underactuated vehicle networks

Contact Info

Product

Resources

About