Formation Control With Time-Varying Formations, Bounded Controls, and Local Collision Avoidance

Lippay, Zachary S.; Hoagg, Jesse B.

doi:10.1109/tcst.2021.3062824

Cited by 30 publications

(7 citation statements)

References 52 publications

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“…Remark 1: From ( 8), ( 9) and (10), it can be seen that only the neighborhood agents' information is needed, and thus the proposed method is fully distributed rather than centralized control. In addition, the existing NSB control methods in [16]- [19] only considered the time-invariant formation, and the coordination between followers was ignored.…”

Section: A Desired Trajectory Generationmentioning

confidence: 99%

“…However, the high computational amount of the MPC approach is still a problem for distributed MASs with limited resources. The APF approach is that, when an agent enters the potential field of another agent, it will be subject to a repulsive force so as to increase the distance between them [8]- [10]. Different from the APF approach, the NSB approach has the foresight ability for collision, and further is widely suggested in view of its capability to handle multi-task constraints.…”

mentioning

confidence: 99%

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Null-Space-Based Time-Varying Formation Control of Uncertain Nonlinear Second-Order Multiagent Systems With Collision Avoidance

Zheng

Pang

Wang

et al. 2023

IEEE Trans. Ind. Electron.

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In this paper, the time-varying formation control problem with collision avoidance is addressed for uncertain nonlinear second-order multi-agent systems in a null-space-based behavioral control architecture. To guarantee the tracking and coordination performance simultaneously, a novel and flexible time-varying formation task strategy is designed where only neighborhood information is necessary. Moreover, the agent radius and a sine function are introduced such that the collision avoidance task function describes collision risk more accurately in contrast to existing results. Then, two fixed-time sliding mode controllers with constant and variable exponent coefficients, respectively, are proposed to track the desired trajectory generated by null space projection. Also, the theoretical results for the task design and trajectory tracking are obtained by using the Lyapunov stability theory. Numerical simulation and practical experiments are finally conducted to illustrate the effectiveness and superiority of the proposed method.

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Section: A Desired Trajectory Generationmentioning

confidence: 99%

mentioning

confidence: 99%

Null-Space-Based Time-Varying Formation Control of Uncertain Nonlinear Second-Order Multiagent Systems With Collision Avoidance

Zheng

Pang

Wang

et al. 2023

IEEE Trans. Ind. Electron.

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“…State agreement, which aims at forcing the agents to agree on the states via local interactions, is a basic group behavior with promising applications in many directions, such as synchronization of complex networks [1,2,3], formation control [4,5,6,7,8], distributed optimization [9,10,11,12] and etc.…”

Section: Introductionmentioning

confidence: 99%

Robust State Agreement in Switching Networks of Nonlinear Agents with Measurement Disturbances and Communication Delays

Wang,

Jin,

et al. 2024

Preprint

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This paper deals with a class of nonlinear multi-agent system with communication delays and measurement disturbances under directed switching topologies. Based on the comparison principle and input-to-state stability (ISS), a novel methodology is provided to ensure that the robust state agreement problem can be solved in a fully distributed manner. With the union of the interconnection digraphs satisfying a mild connectivity assumption, we show that the global result for robust state agreement is obtained if the interaction functions are sector bounded and radially unbounded. If the condition on the interaction functions is relaxed, a local result for robust state agreement is developed. In addition, an asymptotic state agreement result is also proposed for the special case of multi-agent system with only communication delays. The effectiveness of the proposed theoretical results is validated by some numerical examples.

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“…Multiple autonomous agents are utilized to carry out many complicated tasks in recent decades [1][2][3][4][5], such as surveillance and rescue, monitoring environments and object transportation, etc., which can reduce the computational complexity, improve the robustness of the system, and provide the high-quality products via the proposed distributed controllers compared to that of a single monolith expensive and complex one [6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Saturated Finite-Time Control for Uncertain Multi-agent Systems with Uncertainties and Disturbances

Yang

Fan

Long

et al. 2022

Advances in Transdisciplinary Engineering

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This paper presents a finite-time formation control scheme that can deal with linearly parametric uncertainties and unknown bounded disturbances. More precisely, the sliding surface is defined based on only the local relative measurements, yields the smooth manifold related to the control problem, the distributed controllers are designed without and with the uncertainties and external disturbances that ensure the finite-time convergence, and the robust control part is derived relies on the estimation technique according to the properties of smoothness and input saturation. To obtain the better performance of multiagent systems, a feasible boundary layer for saturation function is selected in the proposed control algorithm. It is shown that the proposed control can greatly eliminate the chattering effect, and the global uniformly ultimately bounded is ensured. Finally, simulation results are presented to illustrate the dynamical performance of the proposed robust formation control scheme.

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Formation Control With Time-Varying Formations, Bounded Controls, and Local Collision Avoidance

Cited by 30 publications

References 52 publications

Null-Space-Based Time-Varying Formation Control of Uncertain Nonlinear Second-Order Multiagent Systems With Collision Avoidance

Null-Space-Based Time-Varying Formation Control of Uncertain Nonlinear Second-Order Multiagent Systems With Collision Avoidance

Robust State Agreement in Switching Networks of Nonlinear Agents with Measurement Disturbances and Communication Delays

Saturated Finite-Time Control for Uncertain Multi-agent Systems with Uncertainties and Disturbances

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