Formation control with collision avoidance for uncertain networked Lagrangian systems via adaptive gain techniques

Ji, Jinchen; Miao, Zhonghua; Zhou, Jin

doi:10.1049/iet-cta.2017.1065

Cited by 12 publications

(5 citation statements)

References 35 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Compared with the discontinuous strategy in refs. [8,9], the algorithm proposed in this paper can effectively eliminate the negative effects created by discontinuities and does not cause the chattering issues. By introducing the distributed estimator, the robots do not require accurate position and velocity measurements of the objective region but only need to estimate the state information related to their neighbors.…”

Section: Controller Designmentioning

confidence: 99%

“…The state information (e.g., the relative position and velocity measurement) of the region is required to be available only for several robots (at least one), not for the entire community. Compared with the recent work, 8,9 the proposed control strategy is continuous and thus does not cause the chattering issues.…”

Section: Introductionmentioning

confidence: 97%

“…(iii) A novel controller is developed for the region-reaching control of multi-robot systems by utilizing the adaptive gain techniques and a distributed continuous acceleration estimator. In contrast to the existing research work, 9,14,16,[23][24][25][27][28][29] a unified combination of region-reaching, collision avoidance, and fully distributed control algorithm is firstly considered for the networked robotic systems under undirected communication network. Moreover, the developed control methodology possesses the advantages in scalability, reliability, flexibility, and manipulability.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems

Ji¹,

Miao²,

Zhou³

2021

Robotica

Self Cite

View full text Add to dashboard Cite

SUMMARY This paper proposes a fully distributed continuous region-reaching controller for multi-robot systems which can effectively eliminate the chattering issues and the negative effects caused by discontinuities. The adaptive control gain technique is employed to solve the distributed region-reaching control problem. By performing Lyapunov function-based stability analysis, it is shown that all the robots can move cohesively within the desired region under the proposed distributed control algorithm. In addition, collision avoidance and velocity matching within the moving region can be guaranteed under properly designed control gains. Simulation examples are given to verify the capabilities of the proposed control method.

show abstract

Section: Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems

Ji¹,

Miao²,

Zhou³

2021

Robotica

Self Cite

View full text Add to dashboard Cite

show abstract

“…, N andL(r(t)) = I N ÀÃ(r(t)). Since the semi-Markov switching topologies G v have a directed spanning tree, thenL(r(t)) has a simple zero eigenvalue, and all other eigenvalues are on the open right half-plan (Yu et al, 2018). The following decomposition is valid: Liu et al, 2017).…”

Section: Convergence Analysismentioning

confidence: 99%

Event-triggered stochastic consensus for networked Lagrangian systems with semi-Markov switching topologies and communication delays

Pan

Miao

et al. 2021

Transactions of the Institute of Measurement and Control

Self Cite

View full text Add to dashboard Cite

In this paper, the event-triggered stochastic consensus for networked Lagrangian systems with semi-Markov switching topologies and communication delays is considered. An event-triggered sampling control strategy is used to design the distributed stochastic consensus scheme of networked Lagrangian systems for two cases with leader and leaderless. Two delay-dependent consensus criteria are derived in the sense of mean square by use of a suitable Lyapunov-Krasovskii functional and the stochastic delayed Halanay inequality, respectively. A key feature of the developed event-triggered consensus algorithm is to introduce a suitable adjustment parameter on consensus control gains characterizing the effect of both semi-Markov switching topology and communication delay. Finally, a numerical example of four manipulators with two links is presented to illustrate the effectiveness of the developed event-triggered methodology.

show abstract

“…Formation control and collision avoidance are also presented in [19] for double-integrator systems, which is based on position estimation. In [20], the problem of formation control with collision avoidance for networked Lagrangian systems with uncertain parameters is investigated under directed network topology.…”

Section: Introductionmentioning

confidence: 99%

Distributed Adaptive Neural Network Control Applied to a Formation Tracking of a Group of Low-Cost Underwater Drones in Hazardous Environments

et al. 2020

View full text Add to dashboard Cite

This paper addresses a formation tracking problem of multiple low-cost underwater drones by implementing distributed adaptive neural network control (DANNC). It is based on a leader-follower architecture to operate in hazardous environments. First, unknown parameters of underwater vehicle dynamics, which are important requirements for real-world applications, are approximated by a neural network using a radial basis function. More specifically, those parameters are only calculated by local information, which can be obtained by an on-board camera without using an external positioning system. Secondly, a potential function is employed to ensure there is no collision between the underwater drones. We then propose a desired configuration of a group of unmanned underwater vehicles (UUVs) as a time-variant function so that they can quickly change their shape between them to facilitate the crossing in a narrow area. Finally, three UUVs, based on a robot operating system (ROS) platform, are used to emphasize the realistic low-cost aspect of underwater drones. The proposed approach is validated by evaluating in different experimental scenarios.

show abstract

Formation control with collision avoidance for uncertain networked Lagrangian systems via adaptive gain techniques

Cited by 12 publications

References 35 publications

Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems

Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems

Event-triggered stochastic consensus for networked Lagrangian systems with semi-Markov switching topologies and communication delays

Distributed Adaptive Neural Network Control Applied to a Formation Tracking of a Group of Low-Cost Underwater Drones in Hazardous Environments

Contact Info

Product

Resources

About